CN112205635A - Full-automatic seed reserving peanut shelling robot control system - Google Patents
Full-automatic seed reserving peanut shelling robot control system Download PDFInfo
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- CN112205635A CN112205635A CN202010975853.2A CN202010975853A CN112205635A CN 112205635 A CN112205635 A CN 112205635A CN 202010975853 A CN202010975853 A CN 202010975853A CN 112205635 A CN112205635 A CN 112205635A
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- conveyor belt
- arm robot
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- support frame
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- 241001553178 Arachis glabrata Species 0.000 title claims abstract description 147
- 235000020232 peanut Nutrition 0.000 title claims abstract description 147
- 235000017060 Arachis glabrata Nutrition 0.000 title claims abstract description 84
- 235000010777 Arachis hypogaea Nutrition 0.000 title claims abstract description 84
- 235000018262 Arachis monticola Nutrition 0.000 title claims abstract description 84
- 238000012216 screening Methods 0.000 claims abstract description 74
- 238000006243 chemical reaction Methods 0.000 claims abstract description 63
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 40
- 229910052782 aluminium Inorganic materials 0.000 claims description 40
- 229910000838 Al alloy Inorganic materials 0.000 claims description 29
- 230000007246 mechanism Effects 0.000 claims description 20
- 238000007873 sieving Methods 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 238000010030 laminating Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 4
- 239000004973 liquid crystal related substance Substances 0.000 description 4
- 239000004332 silver Substances 0.000 description 4
- 229910052709 silver Inorganic materials 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000003631 expected effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- ORILYTVJVMAKLC-UHFFFAOYSA-N Adamantane Natural products C1C(C2)CC3CC1CC2C3 ORILYTVJVMAKLC-UHFFFAOYSA-N 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N5/00—Machines for hulling, husking or cracking nuts
- A23N5/01—Machines for hulling, husking or cracking nuts for peanuts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a full-automatic seed reserving peanut shelling robot control system, which comprises a controller and is characterized in that: the peanut vibration feeding device is characterized in that the controller is electrically connected with the power module, the controller is respectively electrically connected with the feeding unit, the motor driving unit, the single-arm robot control unit, the solenoid valve driving unit, the sensor unit, the stopping unit, the key control unit and the display unit, the feeding unit is a peanut vibration feeding disc, and the motor driving unit comprises a first conveyor belt driving motor, a second conveyor belt driving motor, a third conveyor belt driving motor, a first direction conversion motor, a second direction conversion motor and a screening device driving motor. The invention relates to the field of agricultural mechanical equipment, in particular to a control system of a full-automatic seed reserving and peanut shelling robot. This device can make things convenient for the peanut to shell.
Description
Technical Field
The invention relates to the field of agricultural mechanical equipment, in particular to a control system of a full-automatic seed reserving and peanut shelling robot.
Background
The existing peanut husking machines in the market basically adopt two types, namely a rubber roller and a rubber floating concave plate, wherein the two types are mainly a steel-grain rod and a steel grid concave plate, the two types are mainly used for striking and rubbing, the rubber roller and the rubber floating concave plate are mainly used for extruding and rubbing, the husking quality is not uniform, the damage rate of the peanut skin of the reserved seeds is high, the husked peanuts are mainly used for oil extraction and eating, and the requirements of seeds and exports cannot be met. This is a disadvantage of the prior art.
Disclosure of Invention
The invention aims to solve the technical problem of providing a full-automatic seed reserving and peanut shelling robot control system which is simple in structure, low in breakage rate and convenient to operate.
The invention adopts the following technical scheme to realize the purpose of the invention:
the utility model provides a full-automatic peanut peeling robot control system that stays kind, includes the controller, characterized by:
the controller is respectively and electrically connected with the feeding unit, the motor driving unit, the single-arm robot control unit, the electromagnetic valve driving unit, the sensor unit, the stop unit, the key control unit and the display unit;
the feeding unit is a peanut vibration feeding plate;
the motor driving unit comprises a first conveyor belt driving motor, a second conveyor belt driving motor, a third conveyor belt driving motor, a first direction conversion motor, a second direction conversion motor and a screening device driving motor;
the single-arm robot control unit comprises a first transverse single-arm robot, a first longitudinal single-arm robot, a second transverse single-arm robot, a second longitudinal single-arm robot, a third transverse single-arm robot, a third longitudinal single-arm robot, a fourth micro single-arm robot, a fifth micro single-arm robot, a fourth transverse single-arm robot, a sixth longitudinal single-arm robot, a seventh micro single-arm robot and an eighth micro single-arm robot;
the electromagnetic valve driving unit comprises a first finger cylinder, a second finger cylinder, a third finger cylinder, a fourth finger cylinder, a fifth finger cylinder, a sixth finger cylinder, a seventh finger cylinder and an eighth finger cylinder;
the sensor unit comprises a first camera sensor, a second camera sensor and a third camera sensor;
the cut-off unit is a cut-off cylinder.
As a further limitation to the present technical solution, the first conveyor belt driving motor, the second conveyor belt driving motor, and the third conveyor belt driving motor are components in a conveyor belt assembly, the conveyor belt assembly includes a first conveyor belt assembly, a second conveyor belt assembly, and a third conveyor belt assembly, the first conveyor belt assembly includes symmetrical first conveyor belt bases, an aluminum profile support frame is fixedly connected to the symmetrical first conveyor belt bases, the symmetrical first conveyor belt bases are respectively and fixedly connected to a first conveyor belt support frame, one first conveyor belt base is fixedly connected to the first conveyor belt driving motor, the first conveyor belt driving motor passes through one first conveyor belt base, the first conveyor belt driving motor is fixedly connected to a first conveyor belt pulley, and the first conveyor belt support frame is hinged to a set of first conveyor belt rollers, the first conveyor belt surrounds a group of the first conveyor belt rollers and the first conveyor belt pulleys; the second conveyor belt assembly comprises symmetrical second conveyor belt bases, the aluminum profile support frames are fixedly connected with the symmetrical second conveyor belt bases, the symmetrical second conveyor belt bases are respectively and fixedly connected with the second conveyor belt support frames, one second conveyor belt base is fixedly connected with the second conveyor belt driving motor, the second conveyor belt driving motor penetrates through one second conveyor belt base, the second conveyor belt driving motor is fixedly connected with a second conveyor belt pulley, the second conveyor belt support frames are hinged with a group of second conveyor belt rollers, and a second conveyor belt surrounds a group of second conveyor belt rollers and the second conveyor belt pulley; the third conveyor belt assembly comprises symmetrical third conveyor belt bases, the symmetrical third conveyor belt bases are fixedly connected with the aluminum profile support frame, the symmetrical third conveyor belt bases are respectively fixedly connected with third conveyor belt support frames, one third conveyor belt base is fixedly connected with the third conveyor belt driving motor, the third conveyor belt driving motor penetrates one third conveyor belt base, the third conveyor belt driving motor is fixedly connected with a third conveyor belt pulley, the third conveyor belt support frame is hinged with a group of third conveyor belt rollers, a third conveyor belt surrounds a group of third conveyor belt rollers and the third conveyor belt pulley, the first direction conversion motor and the second direction conversion motor are components in the direction conversion device, and the direction conversion device comprises a first direction conversion device and a second direction conversion device, the first direction conversion device comprises a first direction conversion motor, the second conveyor belt supporting frame is fixedly connected with the first direction conversion motor, and an output shaft of the first direction conversion motor is fixedly connected with a first direction conversion disc; the second direction conversion device comprises a second direction conversion motor, the third conveyor belt supporting frame is fixedly connected with the second direction conversion motor, and an output shaft of the second direction conversion motor is fixedly connected with a second steering wheel.
As a further limitation to the present technical solution, the single-arm robot control unit, the solenoid valve driving unit and the automatic reset unit are respectively disposed in a frame assembly, the frame assembly includes a first frame assembly, a second frame assembly and a third frame assembly, the first frame assembly includes a first aluminum profile support frame, the aluminum profile support frame is fixedly connected to the first aluminum profile support frame, one side of the first aluminum profile support frame is fixedly connected to the first transverse single-arm robot, a slider of the first transverse single-arm robot is fixedly connected to the first longitudinal single-arm robot, a slider of the first longitudinal single-arm robot is fixedly connected to the first finger cylinder, the other side of the first aluminum profile support frame is fixedly connected to the second transverse single-arm robot, a slider of the second transverse single-arm robot is fixedly connected to the second longitudinal single-arm robot, the second longitudinal single-arm robot is fixedly connected with the second finger cylinder; the second rack assembly comprises a second aluminum profile support frame which is fixedly connected with the second aluminum profile support frame, the second aluminum profile support frame is fixedly connected with the third transverse single-arm robot, a sliding block of the third transverse single-arm robot is fixedly connected with the third longitudinal single-arm robot, the third longitudinal single-arm robot is fixedly connected with the third finger cylinder, the aluminum profile support frame is fixedly connected with a first fixed connecting plate, the first fixed connecting plate is fixedly connected with a fourth miniature single-arm robot and a fifth miniature single-arm robot which are symmetrical, the fourth miniature single-arm robot is fixedly connected with the fourth finger cylinder, and the fifth miniature single-arm robot is fixedly connected with the fifth finger cylinder which is symmetrical with the fourth finger cylinder; third frame subassembly includes third aluminium alloy support frame, aluminium alloy support frame fixed connection the third aluminium alloy support frame, third aluminium alloy support frame fixed connection the horizontal single-arm robot of fourth, the slider fixed connection of the horizontal single-arm robot of fourth the vertical single-arm robot of sixth, the slider fixed connection of the vertical single-arm robot of sixth finger cylinder, aluminium alloy support frame fixed connection second fixed connection board, fixed connection symmetry on the second fixed connection board seventh miniature single-arm robot and the miniature single-arm robot of eighth, seventh miniature single-arm robot fixed connection seventh finger cylinder, eighth miniature single-arm robot fixed connection with seventh finger cylinder symmetry the eighth finger cylinder.
As a further limitation to the technical scheme, the second aluminum profile support frame is fixedly connected with the first camera sensor, and the first aluminum profile support frame is fixedly connected with the second camera sensor and the third camera sensor.
As the further limitation to the technical scheme, the second aluminum profile supporting frame is fixedly connected with the cutoff cylinder, a first blanking bevel opening is formed in the middle of the first fixed connecting plate, and a second blanking bevel opening is formed in the middle of the second fixed connecting plate.
As a further limitation to the technical solution, the screening device driving motor is disposed in the screening mechanism, the screening mechanism includes a screening device supporting frame, the screening device supporting frame is fixedly connected to the screening device driving motor, the screening device supporting frame is fixedly connected to symmetrical bearing seat assemblies, an output shaft of the screening device driving motor is fixedly connected to a screening device driving wheel, the screening device driving wheel is connected to a screening device driven wheel through a belt, the symmetrical bearing seat assemblies are respectively hinged to a crank connecting shaft, the crank connecting shaft is fixedly connected to the screening device driven wheel, a bent portion of the crank connecting shaft is hinged to one end of a reciprocating connecting rod, the other end of the reciprocating connecting rod is hinged to a screening disk, inner sides of two vertical plates of the screening device supporting frame are respectively and fixedly connected to a set of uniformly distributed circular supporting rods, the lower side of the screening disc is attached to the circular supporting rod.
As a further limitation to the technical scheme, the peanut vibration feeding disc is arranged in the feeding mechanism, the feeding mechanism comprises the peanut vibration feeding disc and a peanut vibration feeding disc supporting frame, and the peanut vibration feeding disc is fixedly connected with the peanut vibration feeding disc supporting frame.
Compared with the prior art, the invention has the advantages and positive effects that:
(1) the invention analyzes the information transmitted by the sensor module, controls the motor driving module to make each motor respectively act, and achieves the purpose of nondestructive automatic peanut shelling;
(2) the invention realizes the movement of each level of single-arm robot through the control of the controller, realizes the process of imitating the artificial peanut shelling, realizes the process of artificial shelling by utilizing the multi-level single-arm robot in sequence through reasonable decomposition, achieves the effect of artificial shelling and lightens the amount of manual labor;
(3) the sorting disc of the device can swing back and forth under the control of the controller, so that the peanut seeds and the peanut shells can be separated, and the labor intensity of workers can be reduced;
(4) the device ensures that farmers in peanut producing areas do not need to adopt the most original shelling method to shell, thereby greatly reducing the physical labor of the farmers and simultaneously improving the peanut shelling efficiency.
Drawings
Fig. 1 is a general principle block diagram of the present invention.
Fig. 2 is a schematic diagram of a driving circuit of a stepping motor according to the present invention.
FIG. 3 is a schematic diagram of an OLED liquid crystal display panel according to the present invention.
Fig. 4 is a schematic perspective view of the first embodiment of the present invention.
Fig. 5 is a partial perspective view of the first embodiment of the present invention.
Fig. 6 is a partial perspective view of the second embodiment of the present invention.
Fig. 7 is a schematic view of a partial three-dimensional structure according to the present invention.
Fig. 8 is a partial perspective view illustrating a fourth embodiment of the present invention.
Fig. 9 is a schematic partial perspective view of the present invention.
Fig. 10 is a schematic perspective view of the present invention.
Fig. 11 is a partial enlarged view of a in fig. 10 according to the present invention.
Fig. 12 is a three-dimensional schematic view of the present invention.
Fig. 13 is a perspective view of the steering wheel of the present invention.
Fig. 14 is a schematic partial perspective view illustrating a seventh embodiment of the present invention.
Fig. 15 is a partial perspective view illustrating an eighth embodiment of the present invention.
Fig. 16 is a partial perspective view illustrating a ninth embodiment of the present invention.
Fig. 17 is a partial perspective view illustrating a cross section of the present invention.
Fig. 18 is a schematic diagram eleven of a partial three-dimensional structure of the present invention.
FIG. 19 is a twelve-dimensional schematic view of the present invention
Fig. 20 is a schematic diagram thirteen partial perspective structures of the present invention.
Fig. 21 is a schematic view fourteen in partial perspective structure.
Fig. 22 is a schematic view fifteen illustrating a partial perspective structure of the present invention.
In the figure: 1. peanut vibrations feed tray, 2, peanut vibrations feed tray support frame, 3, first aluminium alloy support frame, 4, first horizontal single-arm robot, 5, first vertical single-arm robot, 6, first finger cylinder, 7, second horizontal single-arm robot, 8, second vertical single-arm robot, 9, second finger cylinder, 10, second aluminium alloy support frame, 11, third horizontal single-arm robot, 12, third vertical single-arm robot, 13, third finger cylinder, 14, fourth micro single-arm robot, 15, fourth finger cylinder, 16, fifth micro single-arm robot, 17, fifth finger cylinder, 18, third aluminium alloy support frame, 19, fourth horizontal single-arm robot, 20, sixth vertical single-arm robot, 21, sixth finger cylinder, 22, seventh single-arm, 23, seventh finger cylinder, 24, eighth micro single-arm robot, 25. an eighth finger cylinder 26, a first belt supporting frame 27, a first belt base 28, a first belt roller 29, a first belt 30, a first belt pulley 31, a first belt driving motor 32, a second belt supporting frame 33, a second belt base 34, a second belt roller 35, a second belt 36, a second belt pulley 37, a second belt driving motor 38, a third belt supporting frame 39, a third belt base 40, a third belt roller 41, a third belt 42, a third belt pulley 43, a third belt driving motor 44, a first direction switching motor 45, a first direction switching disc 46, a second direction switching motor 47, a second direction switching disc 48, a first camera sensor 49, a second camera sensor, 50. third camera sensor, 51, intercept the device, 52, sieving mechanism support frame, 53, first unloading bevel connection, 54, second unloading bevel connection, 55, screening dish, 56, sieving mechanism driving motor, 57, sieving mechanism action wheel, 58, sieving mechanism driven wheel, 59, crank connecting axle, 60, bearing frame subassembly, 61, reciprocating motion connecting rod, 62, aluminium alloy support frame, 63, first fixed connection board, 64, second fixed connection board.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the embodiment.
As shown in fig. 1-22, the present invention includes a controller, model number one-chip microcomputer STM32F407ZET6,
the controller is respectively and electrically connected with the feeding unit, the motor driving unit, the single-arm robot control unit, the electromagnetic valve driving unit, the sensor unit, the stop unit, the key control unit and the display unit;
the feeding unit is a peanut vibration feeding plate 1;
the motor driving unit includes a first belt driving motor 31, a second belt driving motor 37, a third belt driving motor 43, a first direction switching motor 44, a second direction switching motor 46, and a screening device driving motor 56;
the single-arm robot control unit includes a first transverse single-arm robot 4, a first longitudinal single-arm robot 5, a second transverse single-arm robot 7, a second longitudinal single-arm robot 8, a third transverse single-arm robot 11, a third longitudinal single-arm robot 12, a fourth micro single-arm robot 14, a fifth micro single-arm robot 16, a fourth transverse single-arm robot 19, a sixth longitudinal single-arm robot 20, a seventh micro single-arm robot 22, and an eighth micro single-arm robot 24;
the electromagnetic valve driving unit comprises a first finger cylinder 6, a second finger cylinder 9, a third finger cylinder 13, a fourth finger cylinder 15, a fifth finger cylinder 17, a sixth finger cylinder 21, a seventh finger cylinder 23 and an eighth finger cylinder 25;
the sensor units are a first camera sensor 48, a second camera sensor 49 and a third camera sensor 50;
the cut-off unit is a cut-off cylinder 51; the key control unit and the display unit adopt the existing products, and are not described again.
The first conveyor belt driving motor 31, the second conveyor belt driving motor 37 and the third conveyor belt driving motor 43 are components in a conveyor belt assembly, the conveyor belt assembly comprises a first conveyor belt assembly, a second conveyor belt assembly and a third conveyor belt assembly, the first conveyor belt assembly comprises symmetrical first conveyor belt bases 27, aluminum profile support frames 62 are fixedly connected with the symmetrical first conveyor belt bases 27, the symmetrical first conveyor belt bases 27 are respectively and fixedly connected with first conveyor belt support frames 26, one first conveyor belt base 27 is fixedly connected with the first conveyor belt driving motor 31, the first conveyor belt driving motor 31 passes through one first conveyor belt base 27, the first conveyor belt driving motor 31 is fixedly connected with a first conveyor belt pulley 30, and the first conveyor belt support frames 26 are hinged with a group of first conveyor belt rollers 28, the first conveyor belt 29 surrounds a group of the first conveyor belt rollers 28 and the first conveyor belt pulleys 30, the second conveyor belt assembly comprises symmetrical second conveyor belt bases 33, the aluminum profile support frame 62 is fixedly connected with the symmetrical second conveyor belt bases 33, the symmetrical second conveyor belt bases 33 are respectively and fixedly connected with second conveyor belt support frames 32, one second conveyor belt base 33 is fixedly connected with the second conveyor belt driving motor 37, the second conveyor belt driving motor 37 penetrates through one second conveyor belt base 33, the second conveyor belt driving motor 37 is fixedly connected with a second conveyor belt pulley 36, the second conveyor belt support frame 32 is hinged with a group of second conveyor belt rollers 34, the second conveyor belt 35 surrounds a group of the second conveyor belt rollers 34 and the second conveyor belt pulley 36, and the third conveyor belt assembly comprises a symmetrical third conveyor belt base 39, the third conveyor belt base 39 is connected with the third conveyor belt base 39 through the aluminum profile support frame 62, the third conveyor belt base 39 is connected with the third conveyor belt support frame 38 through the third conveyor belt base 39, one third conveyor belt base 39 is connected with the third conveyor belt driving motor 43 through the third conveyor belt base 39, the third conveyor belt driving motor 43 is connected with the third conveyor belt pulley 42 through the third conveyor belt driving motor 43, the third conveyor belt support frame 38 is hinged with a group of third conveyor belt rollers 40, the third conveyor belt 41 is surrounded with a group of third conveyor belt rollers 40 and the third conveyor belt pulley 42, the first direction conversion motor 44 and the second direction conversion motor 46 are parts in the direction conversion device, and the direction conversion device comprises a first direction conversion device and a second direction conversion device, the first direction switching device includes a first direction switching motor 44, the second belt support 32 is fixedly connected to the first direction switching motor 44, an output shaft of the first direction switching motor 44 is fixedly connected to a first direction switching wheel 45, the second direction switching device includes a second direction switching motor 46, the third belt support 38 is fixedly connected to the second direction switching motor 46, and an output shaft of the second direction switching motor 46 is fixedly connected to a second direction switching wheel 47. The outer ring of the first direction conversion disc 25 is attached to the second conveyor belt 35, the position of the first direction conversion disc 25 is matched with the moving direction of the second conveyor belt 35, and peanuts falling along with the movement of the second conveyor belt 35 can be received. The second steering wheel 47 is attached to the third conveyor belt 41, and the position of the second steering wheel 47 matches the moving direction of the third conveyor belt 41, so that peanuts falling along with the movement of the third conveyor belt 41 can be caught. The first and second direction-changing disks 25 and 47 are identically constructed as cylinders having uniformly-spaced grooves on their surfaces, and the peanuts will fall longitudinally into the grooves of the disks following the movement of the conveyor belt. Two first conveyor belt bases 27 are respectively and fixedly installed on the transverse supporting rods on the two sides of the aluminum profile supporting frame 62, two second conveyor belt bases 33 are respectively and fixedly installed on the two transverse supporting rods in the middle of the aluminum profile supporting frame 62, and two third conveyor belt bases 39 are respectively and fixedly installed on the two transverse supporting rods in the middle of the aluminum profile supporting frame 62.
The single-arm robot control unit, the electromagnetic valve driving unit and the automatic reset unit are respectively arranged in a frame assembly, the frame assembly comprises a first frame assembly, a second frame assembly and a third frame assembly, the first frame assembly comprises a first aluminum profile support frame 3, the aluminum profile support frame 62 is fixedly connected with the first aluminum profile support frame 3, one side of the first aluminum profile support frame 3 is fixedly connected with the first transverse single-arm robot 4, a sliding block of the first transverse single-arm robot 4 is fixedly connected with the first longitudinal single-arm robot 5, a sliding block of the first longitudinal single-arm robot 5 is fixedly connected with the first finger cylinder 6, the other side of the first aluminum profile support frame 3 is fixedly connected with the second transverse single-arm robot 7, a sliding block of the second transverse single-arm robot 7 is fixedly connected with the second longitudinal single-arm robot 8, 8 fixed connection of the vertical single-armed robot of second the second finger cylinder 9, the second frame subassembly includes second aluminium alloy support frame 10, 62 fixed connection of aluminium alloy support frame the second aluminium alloy support frame 10, 10 fixed connection of second aluminium alloy support frame the horizontal single-armed robot of third 11, the slider fixed connection of the horizontal single-armed robot of third 11 the vertical single-armed robot of third 12, 12 fixed connection of the vertical single-armed robot of third 13 the third finger cylinder 13, 62 fixed connection first fixed connection boards 63 of aluminium alloy support frame, fixed connection symmetry on the first fixed connection boards 63 the miniature single-armed robot of fourth 14 with the miniature single-armed robot of fifth 16, the miniature single-armed robot of fourth 14 fixed connection the finger cylinder 15, the miniature single-armed robot of fifth 16 fixed connection with the finger cylinder of fourth 15 symmetry the finger cylinder of fifth finger cylinder 17; the third frame component comprises a third aluminum section bar supporting frame 18, the aluminum section bar supporting frame 62 is fixedly connected with the third aluminum section bar supporting frame 18, the third aluminum profile supporting frame 18 is fixedly connected with the fourth transverse single-arm robot 19, a slide block of the fourth transverse single-arm robot 19 is fixedly connected with the sixth longitudinal single-arm robot 20, the slide block of the sixth longitudinal single-arm robot 20 is fixedly connected with the sixth finger cylinder 21, the aluminum profile supporting frame 62 is fixedly connected with a second fixed connecting plate 64, the seventh miniature single-arm robot 22 and the eighth miniature single-arm robot 24 which are symmetrical are fixedly connected on the second fixed connecting plate 64, the seventh micro single-arm robot 22 is fixedly connected with the seventh finger cylinder 23, and the eighth micro single-arm robot 24 is fixedly connected with the eighth finger cylinder 25 which is symmetrical to the seventh finger cylinder 23.
Second aluminium alloy support frame 10 fixed connection first camera sensor 48, first aluminium alloy support frame 3 fixed connection second camera sensor 49 reaches third camera sensor 50.
The second aluminum profile supporting frame 10 is fixedly connected with the intercepting cylinder 51, a first blanking bevel 53 is arranged in the middle of the first fixing connecting plate 63, and a second blanking bevel 54 is arranged in the middle of the second fixing connecting plate 64.
The screening device driving motor 56 is arranged in the screening mechanism, the screening mechanism comprises a screening device supporting frame 52, the screening device supporting frame 52 is fixedly connected with the screening device driving motor 56, the screening device supporting frame 52 is fixedly connected with symmetrical bearing seat components 60, an output shaft of the screening device driving motor 56 is fixedly connected with a screening device driving wheel 57, the screening device driving wheel 57 is connected with a driven wheel 58 through a belt screening device, the symmetrical bearing seat components 60 are respectively hinged with a crank connecting shaft 59, the crank connecting shaft 59 is fixedly connected with the screening device driven wheel 58, the bent part of the crank connecting shaft 59 is hinged with one end of a reciprocating motion connecting rod 61, the other end of the reciprocating motion connecting rod 61 is hinged with a screening disc 55, the inner sides of two vertical plates of the screening device supporting frame 52 are respectively and fixedly connected with a group of uniformly distributed circular supporting rods 503, the underside of the screening disk 55 contacts the circular support rod 503. Screening dish 55 upside is provided with a set of evenly distributed's round hole 501, round hole 501 intercommunication the inside cavity of screening dish 55, screening dish 55 one end fixed connection discharge gate 502, discharge gate 502 intercommunication the inside cavity of screening dish 55.
Peanut vibrations feed table 1 sets up in feeding mechanism, feeding mechanism including peanut vibrations feed table 1 and peanut vibrations feed table support frame 2, peanut vibrations feed table 1 fixed connection peanut vibrations feed table support frame 2.
The display unit comprises an OLED liquid crystal display screen and a 0.28LED digital direct current voltmeter, the OLED liquid crystal display screen is used for displaying the number of the peanuts to be conveyed and the conveying postures of the peanuts, the 0.28LED digital direct current voltmeter is used for displaying power supply voltage, control chip voltage and motor voltage, and the OLED liquid crystal display screen and the 0.28LED digital direct current voltmeter are respectively and electrically connected with the controller.
The model of the first transverse single-arm robot 4 is a silver feeding KK605P500A1F2CS2M moving component.
The model of the first longitudinal single-arm robot 5 is a silver-feeding KK401P100A1F2CS2M moving assembly.
The model of the second transverse single-arm robot 7 is a silver feeding KK605P500A1F2CS2M moving component.
The model of the second longitudinal single-arm robot 8 is a silver-feeding KK401P100A1F2CS2M moving assembly.
The model of the third transverse single-arm robot 11 is a silver feeding KK605P500A1F2CS2M moving component.
The model of the third longitudinal single-arm robot 12 is a silver-feeding KK401P100A1F2CS2M moving component.
The model of the fourth micro single-arm robot 14 is a silver-feeding KK401P100A1F2CS2M moving component.
The model of the fifth micro single-arm robot 16 is a silver-feeding KK401P100A1F2CS2M moving component.
The model of the fourth transverse single-arm robot 19 is a silver feeding KK605P500A1F2CS2M moving component.
The model of the sixth longitudinal single-arm robot 20 is a silver-feeding KK401P100A1F2CS2M moving component.
The model of the seventh micro single-arm robot 22 is a silver-feeding KK401P100A1F2CS2M moving component.
The model of the eighth miniature single-arm robot 24 is a silver-feeding KK401P100A1F2CS2M moving component.
The first finger cylinder 6, the second finger cylinder 9, the third finger cylinder 13, the fourth finger cylinder 15, the fifth finger cylinder 17, the sixth finger cylinder 21, the seventh finger cylinder 23 and the eighth finger cylinder 25 are all of the type of the air cylinder type of Sum-Adam MHZ 220D.
The types of the first conveyor belt driving motor 31, the second conveyor belt driving motor 37 and the third conveyor belt driving motor 43 are 57 high-speed closed-loop stepping motors; the first direction change motor 44 and the second direction change motor 46 are 42 high speed closed loop stepper motors.
The model of the first camera sensor 48, the second camera sensor 49 and the third camera sensor 50 is a high-definition drive-free 800-thousand automatic focusing industrial camera, and the model of the cut-off cylinder 51 is an Adam ACQ80 × 5 cylinder.
The screening device driving motor 56 is a YL single-phase motor 220V high-horsepower motor, and the peanut vibration feeding disc 1 is an SHEFFIELD/steel shield vibration disc feeder.
The peanut vibration feed tray 1, the first transverse single-arm robot 4, the first longitudinal single-arm robot 5, the first finger cylinder 6, the second transverse single-arm robot 7, the second longitudinal single-arm robot 8, the second finger cylinder 9, the third transverse single-arm robot 11, the third longitudinal single-arm robot 12, the third finger cylinder 13, the fourth micro single-arm robot 14, the fourth finger cylinder 15, the fifth micro single-arm robot 16, the fifth finger cylinder 17, the fourth transverse single-arm robot 19, the sixth longitudinal single-arm robot 20, the sixth finger cylinder 21, the seventh micro single-arm robot 22, the seventh finger cylinder 23, the eighth micro single-arm robot 24, the eighth finger belt conveyor 25, the first conveyor drive motor 31, The second conveyor belt driving motor 37, the third conveyor belt driving motor 43, the first direction conversion motor 44, the second direction conversion motor 46, the first camera sensor 48, the second camera sensor 49, the third camera sensor 50, the interception device 51 and the screening device driving motor 56 are respectively and electrically connected with the controller, the controller adopts a single chip microcomputer STM32F407ZET6, and a control part adopts the prior art and is not described again.
The first camera sensor 48 is positioned above the first conveyor assembly and detects the size and position of the peanuts on the first conveyor 29.
The second camera sensor 49 is located above the second conveyor assembly and detects the position of the peanuts on the second conveyor assembly.
The third camera sensor 50 is positioned above the third conveyor assembly and detects the position of the peanuts on the third conveyor assembly.
The stopping cylinder 51 is positioned at the joint of the peanut vibration feeding plate 1 and the first conveyor belt assembly and controls the peanut generating speed in the feeding mechanism.
The screening disc 55 is located below the first oblique blanking opening 53 and the second oblique blanking opening 54.
The invention comprises the following steps:
the method comprises the following steps: putting peanuts into the peanut vibration feeding tray 1;
step two: the controller controls the peanut vibration feeding disc 1 to vibrate, and peanuts are sequentially arranged and are sent out from the annular track of the peanut vibration feeding disc 1 to the discharge hole of the peanut vibration feeding disc 1;
step three: the controller controls the stopping cylinder 51, when the telescopic shaft of the stopping cylinder 51 retracts, the discharge hole of the peanut vibration feeding disc 1 is not blocked any more, and peanuts enter the first conveyor belt 29;
step four: the first camera sensor 48 detects the size, shape and position of the peanuts on the first conveyor belt 29, and transmits data to the controller, and the controller controls the following elements to perform corresponding actions;
step five: the controller judges whether the peanuts meet the standard or not, and when the peanuts are detected to meet the standard and the heads of the peanuts face the same direction as the moving direction of the first conveyor belt 29, the controller controls the first transverse single-arm robot 4, the first longitudinal single-arm robot 5 and the first finger cylinder 6 in the first machine assembly to grab the peanuts onto the second conveyor belt 35;
step six: the second camera sensor 49 detects the position and state of the peanuts on the second conveyor belt 35, and the second conveyor belt 35 moves in a direction opposite to the direction of the first conveyor belt movement 29;
step seven: after detecting that the peanuts on the second conveyor belt 35 reach a predetermined position, transmitting data to the controller, moving the peanuts to the tail end along with the second conveyor belt 35 and longitudinally falling into the groove of the first direction conversion disk 45, driving the first direction conversion disk 45 to rotate by the first direction conversion motor 44, changing the horizontal state of the peanuts into the vertical state, and stopping the rotation of the first direction conversion motor 44;
step eight: a third transverse single-arm robot 11 and a third longitudinal single-arm robot 12 drive the third finger cylinder 13 to move to a position corresponding to a vertical peanut, the third finger cylinder 13 grabs the peanut and applies a clamping force to the peanut so that the peanut cracks a small opening, the third transverse single-arm robot 11 drives the third finger cylinder 13 to move towards the fourth finger cylinder 15 and the fifth finger cylinder 17 and move to a preset position, and the fourth finger cylinder 15 and the fifth finger cylinder 17 move under the drive of the respectively connected miniature single-arm robots and grab the peanut together and move towards two sides simultaneously so that two peanut shells are separated;
step nine: the separated peanuts and peanut shells fall into a screening mechanism through the first blanking bevel opening 53, the peanuts and the peanut shells are separated through the movement of the screening disc 55, the peanuts are collected, and the expected effect is achieved;
step ten: when the peanuts are detected to meet the standard and the movement direction of the heads of the peanuts is different from the movement direction of the first conveyor belt 29, controlling the second single-arm robot 7, the second miniature single-arm robot 8 and the second finger cylinder 9 in the first rack component to grab the peanuts onto the third conveyor belt 41, and enabling unqualified peanuts to fall off along with the movement of the first conveyor belt 29;
step eleven: the third camera sensor 50 detects the position and state of the peanuts on the third conveyor belt 41, and the direction of movement of the third conveyor belt 41 is the same as the direction of movement 29 of the first conveyor belt;
step twelve: after detecting that the peanuts on the third conveyor belt 41 reach a preset position, transmitting data to the controller, moving the peanuts to the tail end along with the third conveyor belt 41 and enabling the peanuts to longitudinally fall into a groove of a second direction conversion disk 47, controlling the second direction conversion motor 46 to drive the second direction conversion disk 47 to move by the controller, enabling the peanuts to be changed into a vertical state, and stopping rotation of the second direction conversion motor 46;
step thirteen: the fourth transverse single-arm robot 19 and the sixth longitudinal single-arm robot 20 drive the sixth finger cylinder 21 to move to a position corresponding to a vertical peanut, the sixth finger cylinder 21 grabs the peanut and applies a clamping force to the peanut so that the peanut cracks a small opening, the fourth transverse single-arm robot 19 drives the sixth finger cylinder 21 to move towards the seventh finger cylinder 23 and the eighth finger cylinder 25 and move to a preset position, and the seventh finger cylinder 23 and the eighth finger cylinder 25 are driven by the micro single-arm robots respectively connected with the third transverse single-arm robot and the fourth longitudinal single-arm robot to move and grab the peanut together and move towards two sides simultaneously, so that two peanut shells are separated;
fourteen steps: the separated peanuts and peanut shells fall into the screening mechanism through the second discharging bevel opening 54, the peanuts and the peanut shells are separated through the movement of the screening disc 55, the peanuts are collected, and the expected effect is achieved.
The working process of the invention is as follows: the peanuts are placed into the peanut vibration feeding disc 1, the controller is opened, the controller controls the peanut vibration feeding disc 1 to vibrate, and the peanuts are sequentially arranged and are sent out from the annular track of the peanut vibration feeding disc 1 to the discharge hole of the peanut vibration feeding disc 1. The controller controls the stopping cylinder 51, when the telescopic shaft of the stopping device 51 retracts, the peanut is no longer blocked from vibrating the discharge hole of the feeding plate 1, and the peanut enters the first conveyor belt 29.
The controller turns on the first conveyor belt driving motor 31, the second conveyor belt driving motor 37 and the third conveyor belt driving motor, the first conveyor belt driving motor 31 drives the first conveyor belt pulley 30 to rotate, the first conveyor belt pulley 30 drives the first conveyor belt 29 to move, the first conveyor belt 29 drives the first conveyor belt roller 28 to rotate, the second conveyor belt driving motor 37 drives the second conveyor belt pulley 36 to rotate, the second conveyor belt pulley 36 drives the second conveyor belt 35 to move, the second conveyor belt 35 drives the second conveyor belt roller 34 to rotate, the third conveyor belt driving motor 43 drives the third conveyor belt pulley 42 to rotate, the third conveyor belt pulley 42 drives the third conveyor belt 41 to move, and the third conveyor belt 41 drives the third conveyor belt roller 40 to rotate.
The peanuts fall onto the first conveyor belt 29 and are moved by the first conveyor belt 29.
The first camera sensor 48 detects the size and shape position of the peanuts on the first conveyor belt 29, and the first camera sensor 48 transmits data to the controller, and the controller controls the following elements to perform corresponding actions.
The first camera sensor 48 detects that peanuts meet the standard, the head direction of the peanuts is the same as the moving direction of the first conveyor belt 29, the first finger cylinder 6 grabs the peanuts onto the second conveyor belt 35, the second camera sensor 49 detects the positions and states of the peanuts on the second conveyor belt 35, the moving direction of the second conveyor belt 35 is opposite to the moving direction of the first conveyor belt 29, the second camera sensor 49 detects that the peanuts on the second conveyor belt 35 reach a preset position and transmits data to the controller, the first direction conversion motor 44 is controlled to drive the first direction conversion disc 45 to move, the peanuts longitudinally fall into the grooves of the first direction conversion disc 45, and the first direction conversion motor 44 drives the first direction conversion disc 45 to rotate, so that the peanuts move to the vertical state along with the first direction conversion disc 45. The third transverse single-arm robot 11 drives the third longitudinal single-arm robot 12 to move in the horizontal direction, the third longitudinal single-arm robot 12 drives the third finger cylinder 13 to move in the vertical direction, the third finger cylinder 13 moves in the horizontal direction and the vertical direction, the fourth micro single-arm robot 14 drives the fourth finger cylinder 15 to move in the horizontal direction, the fifth micro single-arm robot 16 drives the fifth finger cylinder 17 to move in the horizontal direction, the third finger cylinder 13 grabs peanuts, the fourth finger cylinder 15 and the fifth finger cylinder 17 move in the directions of the fourth finger cylinder 15 and the fifth finger cylinder 17 and move to a preset position, the fourth finger cylinder 15 and the fifth finger cylinder 17 grab the peanuts together and move to two sides simultaneously, the peanuts are separated from the peanut shells, and the separated peanuts and the peanut shells fall onto the screening plate 55 through the first feeding oblique openings 53.
The first camera sensor 48 detects that the peanuts meet the standard, the head direction of the peanuts is different from the moving direction of the first conveyor belt 29, and the second finger cylinder 9 grabs the peanuts onto the third conveyor belt 41. The third camera sensor 50 detects the position and condition of the peanuts on the third conveyor 41 and the direction of movement of the third conveyor 41 is the same as the direction of movement 29 of the first conveyor. After the third camera sensor 50 detects that the peanuts on the third conveyor belt 41 reach a predetermined position, data is transmitted to the controller, the peanuts longitudinally fall into the grooves of the second direction conversion disk 47, and the second direction conversion motor 46 is controlled to drive the second direction conversion disk 47 to move, so that the peanuts are changed into a vertical state. The fourth transverse single-arm robot 19 drives the sixth longitudinal single-arm robot 20 to move along the horizontal direction, the sixth longitudinal single-arm robot 20 drives the sixth finger cylinder 21 to move along the vertical direction, the sixth finger cylinder 21 moves along the horizontal direction and the vertical direction, the seventh micro single-arm robot 22 drives the seventh finger cylinder 23 to move along the horizontal direction, the eighth micro single-arm robot 24 drives the eighth finger cylinder 25 to move along the horizontal direction, the sixth finger cylinder 21 grabs peanuts, and moves towards the seventh finger cylinder 23 and the eighth finger cylinder 25 to move to a preset position, the seventh finger cylinder 23 and the eighth finger cylinder 25 grab one side of each peanut together and move towards two sides simultaneously, so that the peanuts are separated from the peanut shells, and the separated peanuts and the peanut shells fall onto the screening disc 55 through the second feeding oblique ports 54.
Screening device driving motor 56 is opened to the controller, screening device driving motor 56 drives screening device action wheel 57 and rotates, screening device action wheel 57 drives screening device from driving wheel 58 through the belt and rotates, screening device drives crank connecting axle 59 from driving wheel 58 and rotates, crank connecting axle 59 drives reciprocating motion connecting rod 61 reciprocating swing, reciprocating motion connecting rod 61 drives screening dish 55 reciprocating motion, the peanut grain falls in screening dish 55 from the roof round hole of screening dish 55, fall out from the discharge gate of screening dish 55, the peanut skin falls from screening dish 55 one side. The movement of the screening disk 55 separates the peanuts from the peanut shells, and the peanuts are collected to achieve the expected effect.
The above disclosure is only one specific embodiment of the present invention, but the present invention is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (7)
1. The utility model provides a full-automatic peanut peeling robot control system that stays kind, includes the controller, characterized by:
the controller is respectively and electrically connected with the feeding unit, the motor driving unit, the single-arm robot control unit, the electromagnetic valve driving unit, the sensor unit, the stop unit, the key control unit and the display unit;
the feeding unit is a peanut vibration feeding plate (1);
the motor driving unit comprises a first conveyor belt driving motor (31), a second conveyor belt driving motor (37), a third conveyor belt driving motor (43), a first direction conversion motor (44), a second direction conversion motor (46) and a screening device driving motor (56);
the single-arm robot control unit comprises a first transverse single-arm robot (4), a first longitudinal single-arm robot (5), a second transverse single-arm robot (7), a second longitudinal single-arm robot (8), a third transverse single-arm robot (11), a third longitudinal single-arm robot (12), a fourth micro single-arm robot (14), a fifth micro single-arm robot (16), a fourth transverse single-arm robot (19), a sixth longitudinal single-arm robot (20), a seventh micro single-arm robot (22) and an eighth micro single-arm robot (24);
the electromagnetic valve driving unit comprises a first finger cylinder (6), a second finger cylinder (9), a third finger cylinder (13), a fourth finger cylinder (15), a fifth finger cylinder (17), a sixth finger cylinder (21), a seventh finger cylinder (23) and an eighth finger cylinder (25);
the sensor units are a first camera sensor (48), a second camera sensor (49) and a third camera sensor (50);
the cut-off unit is a cut-off cylinder (51).
2. The control system of the full-automatic seed reserving peanut shelling robot as claimed in claim 1, wherein: the first conveyor belt driving motor (31), the second conveyor belt driving motor (37) and the third conveyor belt driving motor (43) are parts in a conveyor belt assembly, the conveyor belt assembly comprises a first conveyor belt assembly, a second conveyor belt assembly and a third conveyor belt assembly, the first conveyor belt assembly comprises symmetrical first conveyor belt bases (27), aluminum profile support frames (62) are fixedly connected with the symmetrical first conveyor belt bases (27), the symmetrical first conveyor belt bases (27) are respectively and fixedly connected with first conveyor belt support frames (26), one first conveyor belt base (27) is fixedly connected with the first conveyor belt driving motor (31), the first conveyor belt driving motor (31) penetrates through one first conveyor belt base (27), and the first conveyor belt driving motor (31) is fixedly connected with a first conveyor belt pulley (30), the first conveyor belt supporting frame (26) is hinged with a group of first conveyor belt rollers (28), and a first conveyor belt (29) surrounds a group of the first conveyor belt rollers (28) and a first conveyor belt pulley (30); the second conveyor belt assembly comprises symmetrical second conveyor belt bases (33), the aluminum profile supporting frames (62) are fixedly connected with the symmetrical second conveyor belt bases (33), the symmetrical second conveyor belt bases (33) are respectively and fixedly connected with second conveyor belt supporting frames (32), one second conveyor belt base (33) is fixedly connected with a second conveyor belt driving motor (37), the second conveyor belt driving motor (37) penetrates through one second conveyor belt base (33), the second conveyor belt driving motor (37) is fixedly connected with a second conveyor belt pulley (36), the second conveyor belt supporting frame (32) is hinged with one group of second conveyor belt rollers (34), and a second conveyor belt (35) surrounds one group of second conveyor belt rollers (34) and the second conveyor belt pulley (36); the third conveyor belt assembly comprises a symmetrical third conveyor belt base (39), the third conveyor belt base (39) is connected with the aluminum profile support frame (62) in a fixed mode and is symmetrical, the third conveyor belt base (39) is connected with the third conveyor belt support frame (38) in a fixed mode and is symmetrical, the third conveyor belt base (39) is connected with the third conveyor belt driving motor (43) in a fixed mode, the third conveyor belt driving motor (43) penetrates through the third conveyor belt base (39), the third conveyor belt driving motor (43) is connected with the third conveyor belt pulley (42) in a fixed mode, the third conveyor belt support frame (38) is hinged with a set of third conveyor belt rollers (40), the third conveyor belt (41) surrounds a set of third conveyor belt rollers (40) and the third conveyor belt pulley (42), the first direction conversion motor (44) and the second direction conversion motor (46) are parts in the direction conversion device, the direction conversion device comprises a first direction conversion device and a second direction conversion device, the first direction conversion device comprises a first direction conversion motor (44), the second conveyor belt supporting frame (32) is fixedly connected with the first direction conversion motor (44), and an output shaft of the first direction conversion motor (44) is fixedly connected with a first direction conversion disc (45); the second direction conversion device comprises a second direction conversion motor (46), the third conveyor belt supporting frame (38) is fixedly connected with the second direction conversion motor (46), and an output shaft of the second direction conversion motor (46) is fixedly connected with a second steering wheel (47).
3. The control system of the full-automatic seed reserving peanut shelling robot as claimed in claim 2, wherein: the single-arm robot control unit, the electromagnetic valve driving unit and the automatic reset unit are respectively arranged in a rack assembly, the rack assembly comprises a first rack assembly, a second rack assembly and a third rack assembly, the first rack assembly comprises a first aluminum profile support frame (3), the aluminum profile support frame (62) is fixedly connected with the first aluminum profile support frame (3), one side of the first aluminum profile support frame (3) is fixedly connected with the first transverse single-arm robot (4), a slide block of the first transverse single-arm robot (4) is fixedly connected with the first longitudinal single-arm robot (5), a slide block of the first longitudinal single-arm robot (5) is fixedly connected with the first finger cylinder (6), and the other side of the first aluminum profile support frame (3) is fixedly connected with the second transverse single-arm robot (7), the slide block of the second transverse single-arm robot (7) is fixedly connected with the second longitudinal single-arm robot (8), and the second longitudinal single-arm robot (8) is fixedly connected with the second finger cylinder (9); the second frame subassembly includes second aluminium alloy support frame (10), aluminium alloy support frame (62) fixed connection second aluminium alloy support frame (10), second aluminium alloy support frame (10) fixed connection the horizontal single-arm robot of third (11), the slider fixed connection of the horizontal single-arm robot of third (11) the vertical single-arm robot of third (12), the vertical single-arm robot of third (12) fixed connection third finger cylinder (13), the first fixed connection board of aluminium alloy support frame (62) fixed connection (63), fixed connection symmetry is gone up in first fixed connection board (63) the miniature single-arm robot of fourth (14) with fifth miniature single-arm robot (16), the miniature single-arm robot of fourth (14) fixed connection fourth finger cylinder (15), the miniature single-arm robot of fifth (16) fixed connection with what the fourth finger cylinder (15) was symmetrical The fifth finger cylinder (17); third frame subassembly includes third aluminium alloy support frame (18), aluminium alloy support frame (62) fixed connection third aluminium alloy support frame (18), third aluminium alloy support frame (18) fixed connection the horizontal single-arm robot of fourth (19), the slider fixed connection of the horizontal single-arm robot of fourth (19) the vertical single-arm robot of sixth (20), the slider fixed connection of the vertical single-arm robot of sixth (20) sixth finger cylinder (21), aluminium alloy support frame (62) fixed connection second fixed connection board (64), fixed connection symmetry on second fixed connection board (64) seventh miniature single-arm robot (22) and eighth miniature single-arm robot (24), seventh miniature single-arm robot (22) fixed connection seventh finger cylinder (23), eighth miniature single-arm robot (24) fixed connection with the symmetry of seventh finger cylinder (23) The eighth finger cylinder (25).
4. The control system of the full-automatic seed reserving peanut shelling robot as claimed in claim 3, wherein: second aluminium alloy support frame (10) fixed connection first camera sensor (48), first aluminium alloy support frame (3) fixed connection second camera sensor (49) with third camera sensor (50).
5. The control system of the full-automatic seed reserving peanut shelling robot as claimed in claim 3, wherein: second aluminium alloy support frame (10) fixed connection cut to cylinder (51), first fixed connection board (63) middle part is provided with first unloading bevel connection (53), the middle part of second fixed connection board (64) is provided with second unloading bevel connection (54).
6. The control system of the full-automatic seed reserving peanut shelling robot as claimed in claim 3, wherein: the screening device driving motor (56) is arranged in the screening mechanism, the screening mechanism comprises a screening device supporting frame (52), the screening device supporting frame (52) is fixedly connected with the screening device driving motor (56), the screening device supporting frame (52) is fixedly connected with symmetrical bearing seat assemblies (60), an output shaft of the screening device driving motor (56) is fixedly connected with a screening device driving wheel (57), the screening device driving wheel (57) is connected with a screening device driven wheel (58) through a belt, the symmetrical bearing seat assemblies (60) are respectively hinged with a crank connecting shaft (59), the crank connecting shaft (59) is fixedly connected with the screening device driven wheel (58), a bent part of the crank connecting shaft (59) is hinged with one end of a reciprocating motion connecting rod (61), and the other end of the reciprocating motion connecting rod (61) is hinged with a screening disc (55), the circular bracing piece (503) of a set of evenly distributed of fixed connection respectively in two riser inboards of sieving mechanism support frame (52), the downside laminating of screening dish (55) circular bracing piece (503).
7. The control system of the full-automatic seed reserving peanut shelling robot as claimed in claim 1, wherein: peanut vibrations feed table (1) sets up in feeding mechanism, feeding mechanism including peanut vibrations feed table (1) and peanut vibrations feed table support frame (2), peanut vibrations feed table (1) fixed connection peanut vibrations feed table support frame (2).
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| WO2022057247A1 (en) * | 2020-09-16 | 2022-03-24 | 聊城大学 | Fully-automatic peanut seed reserving and shelling robot and method |
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