CN109429721A - A kind of semi-automation jujube slave recovery integration apparatus - Google Patents
A kind of semi-automation jujube slave recovery integration apparatus Download PDFInfo
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- CN109429721A CN109429721A CN201811597160.3A CN201811597160A CN109429721A CN 109429721 A CN109429721 A CN 109429721A CN 201811597160 A CN201811597160 A CN 201811597160A CN 109429721 A CN109429721 A CN 109429721A
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- jujube
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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
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
- A01D46/264—Devices for beating or vibrating the foliage; Fruit catching devices to be used therewith
Abstract
The invention discloses a kind of semi-automatic jujube slave recovery integration apparatus, including bracket, hit the date mechanism, driving mechanism, operating case and collection device, it is connected between two brackets by scalable bindiny mechanism, the operating case is installed on bracket rear, the frame bottom is installed with wheel, the driving mechanism is installed on bracket, and the hit the date mechanism is connected with driving mechanism, and driving mechanism driving hit the date mechanism rotates the collection device and is installed on bracket lower part.Present invention combination Cold region apple mode plants feature; meet the current demand that integrated auxiliary device was picked to mature jujube and collected to jujube harvesting industry; innovative design and the semi-automatic jujube slave recovery equipment of production; it is beneficial to improve jujube good harvest season large-scale plantation jujube harvest efficiency; it improves working conditions, greatly reduces manual operation workload, reduce cost; it promotes jujube and harvests quality, protect commodity and environment.
Description
Technical field
The invention belongs to agricultural mechanical fields, and in particular to a kind of semi-automation jujube slave recovery integration apparatus.
Background technique
Mainly there is jujube auxiliary picker on domestic market:
It mainly include ladder and device for picking 1. semi-machine formula,
2. beating type, for example reciprocating, rotary using different types of mode of vibration or hybrid impact or plant is curried
Branch makes fruit abscission, and lower part connects jujube collection device, completes the picking and collection of jujube.
3. shake formula makes machine and trunks of fruit trees or branch be rigidly connected, then to fruit tree using the fixed trunk of clamping device
Apply certain frequency, amplitude and time, fruit can fall off when the inertia force suffered by the fruit is greater than fruit with fruit branch binding force
Into the collection device of inverted umbrella, and then complete collection process.
4. aspiration oscillatory type makes fruit abscission by mechanical oscillation, and is made jujube by suction function in dropping process
Have into the current overseas market jujube auxiliary picker of collection frame:
1. Pneumatic type vibration harvest, principle is that high-intensitive airflow function is generated using high-power blower compressed air in fruit
Tree, and changing airflow direction by guider shakes tree branch.
2. shake formula harvests.Shake formula cropper is one of the woods fruit cropper being most widely used, and shakes device, clamping by pushing away
Device connects the principal organ such as fruit device, defeated fruit device composition.
3. impacting type harvests.Impacting type harvest is that impacting type harvest is rigid not with fruit tree with the main distinction that shake formula harvests
Property connection.
The machinery of above-mentioned domestic and international Softening application is not very practical, and not very practical or cost is excessively high or machine
Device design excessively sophisticated functions is difficult to realize or inefficient and to be easy to damage jujube or machine excessively huge inadaptable
Various complicated landforms.Shake formula jujube harvest machinery harvesting effect is higher but damage ratio is high, and cannot harvest landing jujube, downgrades
Jujube harvest effect is general under dense planting mode；Aspirated-air type cropper harvesting effect is preferable but inefficient, is not suitable for extensive red
Jujube harvest；Structure is complicated and is difficult to realize jujube picking and picks up for picking robot.
Summary of the invention
For foregoing problems, the invention discloses a kind of semi-automatic jujube slave recovery integration apparatus, to solve mesh
Jujube picks problem under preceding Cold region apple mode, improves working efficiency, picking rate is high, and fruit is hardly damaged, and significantly
Reduce picking expense.
In order to achieve the above objectives, the invention adopts the following technical scheme:
A kind of semi-automation jujube slave recovery integration apparatus, including bracket, hit the date mechanism, driving mechanism, operating case
And collection device, it is connected by scalable bindiny mechanism between two brackets, the operating case is installed on bracket rear, institute
It states frame bottom and is installed with wheel, the driving mechanism is installed on bracket, and the hit the date mechanism is connected with driving mechanism, described
Driving mechanism driving hit the date mechanism rotates the collection device and is installed on bracket lower part.
Further, the hit the date mechanism includes bearing, round sleeve, circular sleeve drive rod, and the bearing passes through solid
It being connect above fixed circle and bracket, the round sleeve is fixed with bearing, and multiple row hit the date, which is fixed with, on the outside of the round sleeve brushes lightly stick,
The inner wall of the round sleeve is installed with bent plate sprocket wheel, and the round sleeve is interior to be fixed with direct current generator by electric machine support, directly
Galvanic electricity machine is linked with bent plate sprocket wheel by chain pitch wheel.
Further, the bracket is the first vertical support rod of vertical support rod second, connecting rod, circular sleeve drive rod
The trapezoid support formed is connected, the first vertical support rod is mutually perpendicular to the connecting rod, the first vertical support rod
It is mutually perpendicular to the bottom support rod, the bottom support rod is mutually perpendicular to the described second vertical support rod, circular sleeve
Drive rod and first vertical 1 angle of support rod are 45 °, and the vertical support rod angle of the circular sleeve drive rod second is
135°。
Further, the collection device includes limit collection assembly, container, and the container is lateral by concave support frame
It is fixed on bracket, the limit collection assembly is set to above container, and opening is equipped with below the limit collection assembly.
Further, scalable bindiny mechanism includes flexible interior bar and flexible outer bar, the flexible interior bar and flexible outer bar
One end is all made of right angle corner fittings and reinforces fixation, and flexible outer bar includes the flexible rod set equipped with pin locating holes, and flexible interior bar includes
The telescopic rod core of pin locating holes, the flexible rod set and telescopic rod core are limited by pin shaft and are fixed.
Further, bearing limited support mechanism, bearing limited support mechanism packet are equipped at the both ends of circular sleeve
Support corner fittings, rectangular inner sleeve and deep groove ball bearing are included, rectangular inner sleeve is equipped in deep groove ball bearing, the rectangular inner sleeve is logical
Support corner fittings is crossed to be fixed on bearing.
Further, further include single chip machine controlling circuit, the single chip machine controlling circuit include single-chip microcontroller main control circuit,
Motor-drive circuit, instruction and interactive interface circuit, power circuit, motor group, battery, the power circuit respectively with motor
Driving circuit, motor group, battery, single-chip microcontroller main control circuit and instruction and interactive interface circuit connection, the motor driven
Circuit is connect with motor group and single-chip microcontroller main control circuit respectively, the single-chip microcontroller main control circuit also with instruction and interactive interface
Circuit connection；
The single-chip microcontroller main control circuit is for controlling the motor-drive circuit.LED indicating circuit and OLED screen curtain are aobvious
Show that circuit cooperates.Whether the motor-drive circuit is used to control the rotation of the motor, revolving speed speed and rotation direction；
The instruction is used to indicate the motor-drive circuit, the working condition of power circuit and battery with interactive interface circuit
Electricity size；The power circuit is used to be converted to battery voltage 5V DC voltage as control system power supply, acquires simultaneously
Battery voltage value is input to single-chip microcontroller main control circuit；The motor is for driving circular sleeve to rotate；The battery is
Equipment provides supply voltage.
Further, the single-chip microcontroller main control circuit includes the first chip U1, the first key KEY1, the second key
KEY2, third key KEY3, the 4th key KEY4, download interface P1, first capacitor C1, the second capacitor C2, third capacitor C3, the
Four capacitor C4, the 5th capacitor C5, the 6th capacitor C6, first resistor R1, second resistance R2,3rd resistor R3, the 4th resistance R4, the
Five resistance R5；The 4th pin of the first chip U1 and the third pin of the second capacitor C2, first resistor R1, download port P1
It is connected, the other end of the second capacitor C2 is connected with the earth, and the other end of first resistor R1 is connected with DC supply input, downloading end
The second pin of mouth P1 is connected with the earth, and the first pin is connected with the 18th pin of the first chip U1, the 4th pin and direct current
Power input is connected；The 7th pin of the first chip U1 is connected with the earth, the one end first capacitor C1, and first capacitor C1 is another
End is connected with the 8th pin of the first chip U1；The 9th pin of the first chip U1 is connected with DC supply input；It is described
The 5th pin of first chip U1 is connected with one end of the first key KEY1, second resistance R2, third capacitor C3, the first key
The other end of KEY1 is connected with the other end of the earth, third capacitor C3, the other end and the DC supply input phase of second resistance R2
Even；The 6th pin of the first chip U1 is connected with one end of the second key KEY2,3rd resistor R3, the 4th capacitor C4, the
The other end of two key KEY2 is connected with the other end of the earth, the 4th capacitor C4, the other end and DC power supply of 3rd resistor R3
Input is connected；One end phase of the tenth pin and third key KEY3, the 4th resistance R4, the 5th capacitor C5 of the first chip U1
Even, the other end of third key KEY3 is connected with the other end of the earth, the 5th capacitor C5, the other end and direct current of the 4th resistance R4
Power input is connected；The 13rd pin and the 4th key KEY4 of the first chip U1, the 5th resistance R5, the 6th capacitor C6
One end is connected, and the other end of the 4th key KEY4 is connected with the other end of the earth, the 6th capacitor C6, the other end of the 5th resistance R5
It is connected with DC supply input.
Further, the motor-drive circuit includes the second chip U2, third chip U3, fourth chip U4, the 11st
Capacitor C11, the 12nd capacitor C12, the 6th resistance R6, the 8th resistance R8, the 9th resistance R9, the tenth resistance R10, first sliding become
Hinder device RP1, first motor terminals M1, the second motor terminals M2；The 5th pin of the second chip U2 and the 11st electricity
Appearance one end C11,12V DC power input are connected, and the 11st capacitor C11 other end is connected with the first pin of the second chip U2；
Second, third pin of the second chip U2 respectively with two signal output pin phases of the single-chip microcontroller main control circuit
Even；Six, the 8th pins of second chip are connected with two pins of first motor terminals respectively；Second chip
The 4th pin of U2 is connected with the third pin of fourth chip U4, the 6th one end resistance R6, first one end slide rheostat RP1,
The 6th resistance R6 other end is connected with DC supply input, the first slide rheostat RP1 other end and the 8th one end resistance R8 phase
Even, the 8th resistance R8 other end is connected with fourth chip U4 second pin, the earth；The third chip U3 connection type and second
Chip U2 is identical.
Further, the instruction and interactive interface circuit include the first light emitting diode D1, the second light emitting diode D2,
OLED screen curtain, eleventh resistor R11, twelfth resistor R12；The first light emitting diode D1 anode and eleventh resistor R11
One end is connected, and the eleventh resistor R11 other end is connected with DC supply input；The first light emitting diode D1 cathode with it is described
One signal output pin of single-chip microcontroller main control circuit is connected；The second light emitting diode D2 anode and twelfth resistor
The one end R12 is connected, and the twelfth resistor R12 other end is connected with DC supply input；The second light emitting diode D2 cathode with
The earth is connected；First pin of the OLED screen curtain is connected with the earth, and second pin is connected with DC supply input, third, the
Four pins are connected with two signal output pins of the single-chip microcontroller main control circuit respectively.
Further, the power circuit includes fifth chip U5, power switch L1, battery terminal P2, the 7th electricity
Hold the slide rheostat RP2 of C7, the 8th capacitor C8, the 9th capacitor C9, the tenth capacitor C10, the 7th resistance R7, second；Described 5th
The Vin pin and 12V DC power input, the 7th one end capacitor C7 of chip U5, the 8th one end capacitor C8 are connected, the 7th capacitor C7
The other end is connected with the 8th capacitor C8 other end, the earth；The GND pin of the fifth chip U5 is connected with the earth；Described 5th
The Vout pin and DC supply input, the 9th one end capacitor C9 of chip U5, the tenth one end capacitor C10 are connected, the 9th capacitor C9
The other end is connected with the tenth capacitor C10 other end, the earth；The first pin and power switch L1 mono- of the battery terminal P2
End is connected, and the power switch L1 other end is connected with 12V DC power input；The second pin of the battery terminal P2 and big
Ground is connected；Described one end second slide rheostat RP2 is connected with the earth, and one of the other end and the single-chip microcontroller main control circuit
Signal input pin and the 7th resistance R7 are connected, and the 7th resistance R7 other end is connected with 12V DC power input.
Due to the adoption of the above technical scheme, the invention has the benefit that
1. apparatus of the present invention are that collection is mechanical, automatically controlled, pick, store, conveying, cleaning driving is in the semi-automatic roller of one
Formula jujube slave recovery integrated apparatus；
Jujube structure is hit 2. taking and brushing lightly stick, conducive to the jujube grown on limb is hit down, keeps fruit, and utmostly reduce
The interference of limb；
3. collecting box takes limb position limiting structure, by limb that trunk bottom bifurcated is more under the premise of not injuring limb
It is limited in equipment workspace, collects accurate and reliable；
4. detachable accommodating container mechanism, convenient and practical easy to operate；Pin pantograph linkage adapts to a variety of plantation sides
Formula；
5. roller takes bent plate chain drive to drive cylinder mechanism, transmission resistance is small, and stability is good.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of semi-automatic jujube slave recovery machine of the invention.
Fig. 2 is the structural schematic diagram of detachable collection device of the present invention.
Fig. 3 is drum drive schematic diagram of internal structure of the present invention.
Fig. 4 is pantograph linkage schematic diagram of the present invention.
Fig. 5 is bearing limited support structural scheme of mechanism of the present invention.
Fig. 6 is control circuit system block diagram of the present invention.
Fig. 7 is single chip machine controlling circuit of the present invention.
Fig. 8 is motor-drive circuit of the present invention.
Fig. 9 is present invention instruction and interactive interface circuit；
Figure 10 is power circuit of the present invention.
Wherein, the 1, first vertical support rod, 2, operating case, 3, limit collection assembly, 4, wheel, 5, flexible interior bar, 6, stretch
Contracting outer bar, 7, bearing, 8, retainer plate, 9, hit the date brush lightly stick, 10, hit the date brush lightly stick mounting hole, 11, square bolt, 12, straight fixing piece, 13,
Right angle corner fittings, 14, handle, 15, battery installing mechanism, 16, battery, 17, push switch, 18, circular sleeve, 19, company
Extension bar, the 20, second vertical support rod, 21, circular sleeve drive rod, 22, bottom support rod, 23, container, 24, concave support frame,
25, bent plate sprocket wheel, 26, chain pitch wheel, 27, electric machine support, 28, direct current generator, 29, bracket cushion block, 30, flexible rod set, 31, pin
Axis, 32, telescopic rod core, 33, support corner fittings, 34, rectangular inner sleeve, 35, deep groove ball bearing.
Specific embodiment
It elaborates with reference to the accompanying drawing to the preferred embodiment of the present invention.
Present invention combination Cold region apple mode plants feature, meets jujube harvesting industry and picks to mature jujube and collect one
The current demand of body auxiliary device, innovative design and the semi-automatic jujube slave recovery equipment of production, are beneficial to improve red
Jujube is had a good harvest season large-scale plantation jujube harvest efficiency, is improved working conditions, is greatly reduced manual operation workload, reduce at
This, promotes jujube and harvests quality, protect commodity and environment.
A kind of semi-automation jujube slave recovery integration apparatus, including bracket, hit the date mechanism, driving mechanism, operating case 2
And collection device, it being connected by scalable bindiny mechanism between two brackets, the operating case 2 is installed on bracket rear,
The frame bottom is installed with wheel 4, and the driving mechanism is installed on bracket, and the hit the date mechanism is connected with driving mechanism,
The rotation of driving mechanism driving hit the date mechanism, the collection device are installed on bracket lower part.
The hit the date mechanism includes bearing 7, round sleeve 18, circular sleeve drive rod 21, and the bearing 7 passes through retainer plate
8 connect with bracket top, and the round sleeve 18 is fixed with bearing 7, are fixed with multiple row hit the date on the outside of the round sleeve 18 and brush lightly
Stick 9, the inner wall of the round sleeve 18 are installed with bent plate sprocket wheel 25, are fixed in the round sleeve 18 by electric machine support 27
Direct current generator 28, direct current generator 28 are linked with bent plate sprocket wheel 25 by chain pitch wheel 26.10 brush lightly stick mounting hole for hit the date in figure.
The bracket is the first vertical support rod 20 of vertical support rod 1 second, connecting rod 19, the company of circular sleeve drive rod 21
The trapezoid support to be formed is connect, the first vertical support rod 1 is mutually perpendicular to the connecting rod 19, the first vertical support rod
1 is mutually perpendicular to the bottom support rod 22, and the bottom support rod 22 is mutually perpendicular to the bottom support rod 22, circle set
Cylinder drive rod 21 and first vertical 1 angle of support rod are 45 °, the vertical support rod 20 of the circular sleeve drive rod 21 second
Angle is 135 °.
The collection device includes limit collection assembly 3, container 23, and the container 23 is laterally solid by concave support frame 24
It is scheduled on bracket, the limit collection assembly 3 is set to 23 top of container, is equipped with opening below the limit collection assembly 3.
Scalable bindiny mechanism includes flexible interior bar 5 and flexible outer bar 6, and the flexible interior bar 5 and flexible 6 one end of outer bar are equal
It is reinforced and is fixed using right angle corner fittings 13, flexible outer bar 6 includes the flexible rod set 30 equipped with pin locating holes, and flexible interior bar 5 includes
The telescopic rod core 32 of pin locating holes, the flexible rod set 30 are fixed with telescopic rod core 32 by the limit of pin shaft 31.
Present device can be constructed by following examples:
The quantity used is four, and length 1200mm, 4545 aluminum profiles are as the first vertical support rod 1；Quantity is two, length
225mm, 4545 aluminum profiles are connecting rod 19；Quantity is two, length 232mm, and 4545 aluminum profiles are the second vertical support rod 20；Number
Amount is two, length 1374mm, and 4545 aluminum profiles are circular sleeve drive rod 21；Quantity is four, length 1455mm, 4545 aluminum profiles
This jujube, which is built, for bottom support rod 22 picks machine support.
The first vertical support rod 1 is mutually perpendicular to the connecting rod 19, the first vertical support rod 1 and the bottom
Portion's support rod 22 is mutually perpendicular to, and the bottom support rod 22 is mutually perpendicular to the described second vertical support rod 20.4545 aluminium
Connection is all made of 4545 aluminum profiles pairing right angle corner fittings 13 between profile.Using this right angle corner fittings 13 in addition to that can guarantee described 4545
Junction is rectangular between aluminum profile, it is also ensured that 4545 aluminum profile can be born after vertically connecting compared with big load.The right angle
Corner fittings 13 and 4545 aluminum profile junction use the mating square bolt 11 of 4545 aluminum profile, the mating spiral shell of the square bolt 11
Female and model M6 spring washer tightens fixation.
The fixed corner fittings pine will not be led to because of vibration by so that jujube picking machine is travelled on different road surfaces using spring washer
It is dynamic, jujube picking machine is significantly greatly increased for the adaptability of different terrain and the stability of machine architecture.The circular sleeve drives
Lever 21 and the first vertical support rod 1 use straight fixing piece 12 to pass through 11 matching nut of square bolt and spring washer
Fixation is tightened, controlling its angle is 45 °.The circular sleeve drive rod 21 and the 4545 second vertical support rod 22 are using same
Sample loading mode is fixed, and controlling its angle is 135 °.
This jujube picking machine using operating case 2 by square bolt 11, tighten by 11 matching nut of square bolt and spring washer
Be fixed on 45 first vertical 1 sides of support rod to.2 side of operating case is to opening twoCircular hole, opposite ground are presented down
Distribution, circle center distance 40mm are installed for push switch 17.The operating case 2 is leaned on through one lateral extent ground 1500mm of ground.This
Distance is that normal adult operates jujube picking machine more comfort distance, guarantees the timeliness and effectively of this jujube picking machine operation
Property.
Limit collection assembly 3 uses material to be cut into the acrylic box of specific dimensions for the density board of MDB-4, passes through hot melt
Glue connection is fixed.
Cooperated by the groove of two collection devices, has the function that collect jujube root branch to a certain extent, increase is adopted
Pluck efficiency.It is connected and fixed by hot melt adhesive using the density board of MDB-4 and buffering effect can be reached by deformation when collecting branch
Fruit, protection branch are not broken.There is long 600mm under the limit collection assembly 3, wide 40mm opening guarantees that jujube falls into limit
Container 23 is quickly entered after collection assembly 3.
The container 23 is 600mm long, wide 220mm, high 110mm, takes in the case where considering different road surface demands and determines conjunction
Length, width and height are managed, guarantee sufficient accommodation space, number of gradually round transporting less increases picking efficiency.The container 23 uses spill branch
Support 24 carries out lateral fixation, realizes and facilitates taking-up to case after the completion of container 23 is collected.The concave support frame 24 and bottom branch
22 fixed form of strut is that square bolt 11 tightens fixation.
Wheel 4 uses the ripe glue solid wheel of 250-4, can provide larger frictional force and certain cushioning effect, increase this jujube
Adaptability of the picking machine to different road surfaces.
Flexible interior bar 5 and flexible outer bar 6 each two.Connecting rod 19, and the flexible interior bar 5 are fixedly connected with by corner fittings
3 4545 aluminum profiles pairing right angle corner fittings 13, which are all made of, with flexible 6 one end of outer bar reinforces fixation.Secondly described flexible interior bar 5 with
10 are opened in flexible outer bar 6Through-hole, center of circle spacing be 100mm.In the flexible interior bar 5 and flexible outer bar 6
Circular hole is fixed using pin, controls this jujube picking machine spacing, is adapted to the harvesting work of different growing way red jujube trees.
7 model N NU NJ 313/EM of bearing is fixed for fixing round sleeve 18 using hot melt adhesive.Retainer plate 8 is
Square internally and round externally aluminium, for installing the bearing 7 in circular sleeve drive rod 21, axial restraint is matched straight using 4545 aluminum profiles
Angle corner fittings 13, thus fixed circular sleeve 18.It is RSSIX that hit the date, which brushes lightly stick 9 using material, and diameter isLength is 21mm.
The material is in diameterLength has enough toughness when being 21mm, guarantees in this jujube picking machine in picking jujube
Shi Buhui hurts jujube tree branch.The hit the date brushes lightly stick 9 and installs 11 layers, interlamellar spacing 70mm on each circular sleeve 18, often
Apart angle is 90 ° between layer installation 4, every two, can achieve maximum picking efficiency.
The sleeve 18 provides driving force using XD-37GB555 direct current generator 28, and the direct current generator 28 passes through M3 screw
It is fixed on necessary electromotor bracket 27.Chain pitch wheel 26 is installed on the direct current generator 28 by D-shaped hole, and tight using M3
Fixation is stared at, is prevented described.Chain pitch wheel 26 falls off.The electric machine support 27 is fixed on bracket cushion block 29 by M6 screw, described
Bracket cushion block 29 is tightened by 11 matching nut of square bolt and M6 spring washer to be fixed on 4545 circular sleeve drive rods 21.
The bracket cushion block 29 can guarantee that the chain pitch wheel 26 intact can be engaged with 30 hole 04c bent plate sprocket wheel 25 of Φ.Reduce energy
Amount transmitting loss.
This jujube picking machine, which advances through handle 14 and pushes, to advance, the right angle that the handle 14 is matched using 4545 aluminum profiles
Corner fittings 13 is fixed.The total quality of this jujube picking machine can be greatly decreased using pushing to advance, reduce manufacturing cost.Motor drives
Dynamic power source is 12V battery 16, and battery installing mechanism 15 is 3030 aluminum profiles, and practical battery installing mechanism 15 is solid
Dingan County is loaded on the first vertical support rod 1.Electricity exhausts directly-chargeable, does not need to dismantle or replace battery, it is red to increase this
The economy of jujube picking machine.
Pantograph linkage as shown in Figure 4 realizes that this picking is set by flexible rod set 30, telescopic rod core 32 and pin shaft 31
Standby laterally picking width, adjustment left and right wheels spacing, are suitable for the cropping pattern of a variety of different spacings and spacing in the rows, realize a tractor serves several purposes
Purpose.Two pin locating holes spacing are 50mm, design 11 pin locating holes altogether, the unilateral a length of 750mm of connecting rod, stretching can
Tune range is 800-1400mm.When work, length of telescopic bar is adjusted according to actual needs before harvesting starts, and pin need to only be pulled out
Out, the rack for pushing or stretching side can be realized connecting rod and stretch, selectes suitable width, pin is inserted into pin locating holes,
I.e. lockable, structure is simple, and operability is high.
Bearing limited support mechanism as shown in Figure 5, by using support corner fittings 33 and rectangular inner sleeve 34 by model N
The deep groove ball bearing 35 of NU NJ 313/EM is installed on 4545 aluminum profiles, this structure can be born through experimental calculation compared with big load,
Realize the accessible rolling of roller, it is ensured that efficient driving.
The present invention at least promotes 2 to 3 times of work using machine on the basis of the efficiency that the artificial jujube of script is picked
Efficiency at least saves 50% picking cost consumption using machine, mechanical compared to other large-scale jujube harvestings, accomplishes to overcome various
Terrain obstruction.Accomplish that the picking rate of every jujube tree reaches 80% compared with artificial fining picking suitable for more jujube agricultures
Left and right, and to the quality of mechanical jujube with manually pick it is very nearly the same.
This equipment includes single chip machine controlling circuit, and the single chip machine controlling circuit includes single-chip microcontroller main control circuit, motor
Driving circuit, instruction and interactive interface circuit, power circuit, motor group, battery 16, the power circuit drive with motor respectively
Dynamic circuit, motor group, battery 16, single-chip microcontroller main control circuit and instruction and interactive interface circuit connection, the motor driven
Circuit is connect with motor group and single-chip microcontroller main control circuit respectively, the single-chip microcontroller main control circuit also with instruction and interactive interface
Circuit connection；
The single-chip microcontroller main control circuit is for controlling the motor-drive circuit.LED indicating circuit and OLED screen curtain are aobvious
Show that circuit cooperates.Whether the motor-drive circuit is used to control the rotation of the motor, revolving speed speed and rotation direction；
The instruction is used to indicate the motor-drive circuit, the working condition of power circuit and battery 16 with interactive interface circuit
Electricity size；The power circuit is used to be converted to 16 voltage of battery 5V DC voltage for control system power supply, simultaneously
Acquisition 16 voltage value of battery is input to single-chip microcontroller main control circuit；The motor is for driving circular sleeve 18 to rotate；It is described
Battery 16 provides supply voltage for equipment.
The single-chip microcontroller main control circuit includes the first chip U1, the first key KEY1, the second key KEY2, third key
KEY3, the 4th key KEY4, download interface P1, first capacitor C1, the second capacitor C2, third capacitor C3, the 4th capacitor C4, the 5th
Capacitor C5, the 6th capacitor C6, first resistor R1, second resistance R2,3rd resistor R3, the 4th resistance R4, the 5th resistance R5；It is described
The 4th pin of first chip U1 is connected with the first pin of the second capacitor C2, first resistor R1, download port P1, the second capacitor
The other end of C2 is connected with the earth, and the other end of first resistor R1 is connected with DC supply input, and the second of download port P1 is drawn
Foot is connected with the earth, and third pin is connected with the 18th pin of the first chip U1, and the 4th pin is connected with DC supply input；
The 7th pin of the first chip U1 is connected with the earth, the one end first capacitor C1, the first capacitor C1 other end and the first chip
The 8th pin of U1 is connected；The 9th pin of the first chip U1 is connected with DC supply input；The first chip U1's
5th pin is connected with one end of the first key KEY1, second resistance R2, third capacitor C3, the other end of the first key KEY1 with
Greatly, the other end of third capacitor C3 is connected, and the other end of second resistance R2 is connected with DC supply input；First chip
The 6th pin of U1 is connected with one end of the second key KEY2,3rd resistor R3, the 4th capacitor C4, and the second key KEY2's is another
It holds and is connected with the other end of the earth, the 4th capacitor C4, the other end of 3rd resistor R3 is connected with DC supply input；Described first
The tenth pin of chip U1 is connected with one end of third key KEY3, the 4th resistance R4, the 5th capacitor C5, third key KEY3's
The other end is connected with the other end of the earth, the 5th capacitor C5, and the other end of the 4th resistance R4 is connected with DC supply input；It is described
The 13rd pin of first chip U1 is connected with one end of the 4th key KEY4, the 5th resistance R5, the 6th capacitor C6, the 4th key
The other end of KEY4 is connected with the other end of the earth, the 6th capacitor C6, the other end and the DC supply input phase of the 5th resistance R5
Even.
The motor-drive circuit includes the second chip U2, third chip U3, fourth chip U4, the 11st capacitor C11, the
The 12 capacitor slide rheostat RP1 of C12, the 6th resistance R6, the 8th resistance R8, the 9th resistance R9, the tenth resistance R10, first, the
One motor terminals M1, the second motor terminals M2；The 5th pin of the second chip U2 and the 11st one end capacitor C11,
12V DC power input is connected, and the 12nd capacitor C12 other end is connected with the first pin of the second chip U2；Second core
Second, third pin of piece U2 is connected with two signal output pins of the single-chip microcontroller main control circuit respectively；Described second
Six, the 8th pins of chip are connected with two pins of first motor terminals respectively；The 4th of the second chip U2 draws
Foot is connected with the third pin of fourth chip U4, the 6th one end resistance R6, first one end slide rheostat RP1, the 6th resistance R6
The other end is connected with DC supply input, and the first slide rheostat RP1 other end is connected with the 8th one end resistance R8, the 8th resistance
The R8 other end is connected with fourth chip U4 second pin, the earth；The third chip U3 connection type is identical as the second chip U2.
The instruction and interactive interface circuit include the first light emitting diode D1, the second light emitting diode D2, OLED screen curtain,
Eleventh resistor R11, twelfth resistor R12；The first light emitting diode D1 anode is connected with the one end eleventh resistor R11,
The eleventh resistor R11 other end is connected with DC supply input；The first light emitting diode D1 cathode and the monolithic owner
One signal output pin of control circuit is connected；The second light emitting diode D2 anode and the one end twelfth resistor R12 phase
Even, the twelfth resistor R12 other end is connected with DC supply input；The second light emitting diode D2 cathode is connected with the earth；
First pin of the OLED screen curtain is connected with the earth, and second pin is connected with DC supply input, third, the 4th pin difference
It is connected with two signal output pins of the single-chip microcontroller main control circuit.
The power circuit includes fifth chip U5, power switch L1, battery 16 terminals P2, the 7th capacitor C7, the
Eight capacitor C8, the 9th capacitor C9, the tenth capacitor C10, the 7th resistance R7, second slide rheostat RP2；The fifth chip U5's
Vin pin and 12V DC power input, the 7th one end capacitor C7, the 8th one end capacitor C8 are connected, the 7th capacitor C7 other end with
The 8th capacitor C8 other end, the earth are connected；The GND pin of the fifth chip U5 is connected with the earth；The fifth chip U5's
Vout pin and DC supply input, the 9th one end capacitor C9, the tenth one end capacitor C10 are connected, the 9th capacitor C9 other end with
The tenth capacitor C10 other end, the earth are connected；The first pin of the 16 terminals P2 of battery and the one end power switch L1 phase
Even, the power switch L1 other end is connected with 12V DC power input；The second pin and the earth of the 16 terminals P2 of battery
It is connected；Described one end second slide rheostat RP2 is connected with the earth, a letter of the other end and the single-chip microcontroller main control circuit
Number input pin and the 7th resistance R7 are connected, and the 7th resistance R7 other end is connected with 12V DC power input.
The preferred embodiment of the present invention and principle are described in detail above, to those skilled in the art
Speech, the thought provided according to the present invention will change in specific embodiment, and these changes also should be regarded as the present invention
Protection scope.
Claims (10)
1. a kind of semi-automation jujube slave recovery integration apparatus, which is characterized in that including bracket, hit the date mechanism, driving machine
Structure, operating case and collection device are connected by scalable bindiny mechanism between two brackets, and the operating case is installed on branch
Frame rear, the frame bottom are installed with wheel, and the driving mechanism is installed on bracket, the hit the date mechanism and driving mechanism
It is connected, driving mechanism driving hit the date mechanism rotation, the collection device is installed on bracket lower part.
2. a kind of semi-automatic jujube slave recovery integration apparatus according to claim 1, which is characterized in that described to beat
Jujube mechanism includes bearing 7, round sleeve 18, circular sleeve drive rod 21, and the bearing 7 above retainer plate and bracket by connecting
It connects, the round sleeve 18 is fixed with bearing 7, is fixed with multiple row hit the date on the outside of the round sleeve 18 and brushes lightly stick 9, the round set
The inner wall of cylinder 18 is installed with bent plate sprocket wheel 25, passes through electric machine support 27 in the round sleeve 18 and is fixed with direct current generator, direct current
Motor is linked with bent plate sprocket wheel 25 by chain pitch wheel 26.
3. a kind of semi-automatic jujube slave recovery integration apparatus according to claim 1, which is characterized in that the branch
Frame is the first vertical support rod of vertical support rod second, connecting rod, circular sleeve drive rod connect the trapezoid support to be formed, described
First vertical support rod 1 is mutually perpendicular to the connecting rod 19, the first vertical support rod 1 and 22 phase of bottom support rod
Mutually vertical, the bottom support rod 22 is mutually perpendicular to the described second vertical support rod 22, circular sleeve drive rod 21 and described
First vertical 1 angle of support rod is 45 °, and the vertical support rod angle of the circular sleeve drive rod 21 second is 135 °.
4. a kind of semi-automatic jujube slave recovery integration apparatus according to claim 1, which is characterized in that the receipts
Acquisition means include limit collection assembly, container, and the container 23 is secured transverse on bracket by concave support frame, the limit
Collection assembly is set to above container, and opening is equipped with below the limit collection assembly.
5. a kind of semi-automatic jujube slave recovery integration apparatus according to claim 1, which is characterized in that scalable
Bindiny mechanism includes flexible interior bar 5 and flexible outer bar 6, and the flexible interior bar 5 is all made of right angle corner fittings 13 with flexible 6 one end of outer bar
It reinforces and fixes, flexible outer bar 6 includes the flexible rod set 30 equipped with pin locating holes, and flexible interior bar 5 includes stretching for pin locating holes
Contracting bar core 32, the flexible rod set 30 are fixed with telescopic rod core 32 by the limit of pin shaft 31.
6. a kind of semi-automatic jujube slave recovery integration apparatus according to claim 1, which is characterized in that further include
Single chip machine controlling circuit, the single chip machine controlling circuit include single-chip microcontroller main control circuit, motor-drive circuit, instruction and interaction
Interface circuit, power circuit, motor group, battery, the power circuit respectively with motor-drive circuit, motor group, battery,
Single-chip microcontroller main control circuit and instruction with interactive interface circuit connection, the motor-drive circuit respectively with motor group and single-chip microcontroller
Main control circuit connection, the single-chip microcontroller main control circuit also with instruction with interactive interface circuit connection；
For the single-chip microcontroller main control circuit for controlling the motor-drive circuit, the motor-drive circuit is described for controlling
Whether the rotation of motor, revolving speed speed and rotation direction；The instruction is used to indicate the motor driven with interactive interface circuit
The electricity size of circuit, the working condition of power circuit and battery；The power circuit is for converting battery voltage
It is control system power supply for 5V DC voltage, while acquires battery voltage value and being input to single-chip microcontroller main control circuit；The electricity
Machine is for driving circular sleeve to rotate；The battery provides supply voltage for equipment.
7. a kind of semi-automatic jujube slave recovery integration apparatus according to claim 6, which is characterized in that the list
Piece owner's control circuit includes the first chip U1, the first key KEY1, the second key KEY2, third key KEY3, the 4th key
KEY4, download interface P1, first capacitor C1, the second capacitor C2, third capacitor C3, the 4th capacitor C4, the 5th capacitor C5, the 6th are electric
Hold C6, first resistor R1, second resistance R2,3rd resistor R3, the 4th resistance R4, the 5th resistance R5；The first chip U1's
4th pin is connected with the third pin of second one end capacitor C2, the one end first resistor R1 and download port P1, the second capacitor C2
The other end with the earth be connected, the other end of first resistor R1 is connected with DC supply input, the second pin of download port P1
It is connected with the earth, the first pin is connected with the 18th pin of the first chip U1, and the 4th pin is connected with DC supply input；Institute
The 7th pin for stating the first chip U1 is connected with the earth, the one end first capacitor C1, the first capacitor C1 other end and the first chip U1
The 8th pin be connected；The 9th pin of the first chip U1 is connected with DC supply input；The of the first chip U1
Five pins are connected with one end of the first key KEY1, second resistance R2, third capacitor C3, the other end of the first key KEY1 and big
Ground, the other end of third capacitor C3 are connected, and the other end of second resistance R2 is connected with DC supply input；The first chip U1
The 6th pin be connected with one end of the second key KEY2,3rd resistor R3, the 4th capacitor C4, the other end of the second key KEY2
It is connected with the other end of the earth, the 4th capacitor C4, the other end of 3rd resistor R3 is connected with DC supply input；First core
The tenth pin of piece U1 is connected with one end of third key KEY3, the 4th resistance R4, the 5th capacitor C5, and third key KEY3's is another
One end is connected with the other end of the earth, the 5th capacitor C5, and the other end of the 4th resistance R4 is connected with DC supply input；Described
The 13rd pin of one chip U1 is connected with one end of the 4th key KEY4, the 5th resistance R5, the 6th capacitor C6, the 4th key
The other end of KEY4 is connected with the other end of the earth, the 6th capacitor C6, the other end and the DC supply input phase of the 5th resistance R5
Even.
8. a kind of semi-automatic jujube slave recovery integration apparatus according to claim 6, which is characterized in that the electricity
Drive circuit includes the second chip U2, third chip U3, fourth chip U4, the 11st capacitor C11, the 12nd capacitor C12, the
The six resistance slide rheostat RP1 of R6, the 8th resistance R8, the 9th resistance R9, the tenth resistance R10, first, first motor terminals
M1, the second motor terminals M2；The 5th pin and the 11st one end capacitor C11,12V DC power supply of the second chip U2 is defeated
Enter connected, the 11st capacitor C11 other end and the first pin of the second chip U2, the earth are connected；The of the second chip U2
Two, third pin is connected with two signal output pins of the single-chip microcontroller main control circuit respectively；The of second chip
Six, the 8th pin is connected with two pins of first motor terminals respectively；The 4th pin and the 4th of the second chip U2
The third pin of chip U4, the 6th one end resistance R6, first one end slide rheostat RP1 be connected, the 6th resistance R6 other end with
DC supply input is connected, and the first slide rheostat RP1 other end is connected with the 8th one end resistance R8, the 8th resistance R8 other end
It is connected with fourth chip U4 second pin, the earth；The third chip U3 connection type is identical as the second chip U2.
9. a kind of semi-automatic jujube slave recovery integration apparatus according to claim 6, which is characterized in that the finger
Show that with interactive interface circuit include the first light emitting diode D1, the second light emitting diode D2, OLED screen curtain, eleventh resistor R11,
Twelfth resistor R12；The first light emitting diode D1 anode is connected with the one end eleventh resistor R11, and eleventh resistor R11 is another
One end is connected with DC supply input；One letter of the first light emitting diode D1 cathode and the single-chip microcontroller main control circuit
Number output pin is connected；The second light emitting diode D2 anode is connected with the one end twelfth resistor R12, twelfth resistor R12
The other end is connected with DC supply input；The second light emitting diode D2 cathode is connected with the earth；The of the OLED screen curtain
One pin with the earth be connected, second pin is connected with DC supply input, third, the 4th pin respectively with the single-chip microcontroller master control
Two signal output pins of circuit processed are connected.
10. a kind of semi-automatic jujube slave recovery integration apparatus according to claim 6, which is characterized in that described
Power circuit includes fifth chip U5, power switch L1, the battery terminal electricity of P2, the 7th capacitor C7, the 8th capacitor C8, the 9th
Hold the slide rheostat RP2 of C9, the tenth capacitor C10, the 7th resistance R7, second；The Vin pin and 12V of the fifth chip U5 is straight
Power input, the 7th one end capacitor C7 are flowed, the 8th one end capacitor C8 is connected, and the 7th capacitor C7 other end and the 8th capacitor C8 are another
End, the earth are connected；The GND pin of the fifth chip U5 is connected with the earth；The Vout pin and direct current of the fifth chip U5
Power input, the 9th one end capacitor C9, the tenth one end capacitor C10 are connected, and the 9th capacitor C9 other end and the tenth capacitor C10 are another
End, the earth are connected；The first pin of the battery terminal P2 is connected with the one end power switch L1, the power switch L1 other end
It is connected with 12V DC power input；The second pin of the battery terminal P2 is connected with the earth；The second sliding variable resistance
The one end device RP2 is connected with the earth, the signal input pin and the 7th resistance of the other end and the single-chip microcontroller main control circuit
R7 is connected, and the 7th resistance R7 other end is connected with 12V DC power input.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811597160.3A CN109429721A (en) | 2018-12-26 | 2018-12-26 | A kind of semi-automation jujube slave recovery integration apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811597160.3A CN109429721A (en) | 2018-12-26 | 2018-12-26 | A kind of semi-automation jujube slave recovery integration apparatus |
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