CN113455188B - Saffron crocus silk collecting device and control method thereof - Google Patents
Saffron crocus silk collecting device and control method thereof Download PDFInfo
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- CN113455188B CN113455188B CN202110701337.5A CN202110701337A CN113455188B CN 113455188 B CN113455188 B CN 113455188B CN 202110701337 A CN202110701337 A CN 202110701337A CN 113455188 B CN113455188 B CN 113455188B
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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
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Abstract
The invention relates to a saffron crocus silk picking device and a control method thereof, belonging to the technical field of agricultural machinery. Has the advantages of simple structure, time and labor saving, high efficiency and convenient operation. Solves the problem of difficult filament collection of safflower.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a saffron crocus silk collecting device and a control method thereof.
Background
Saffron is a rare Chinese medicinal material, its single gram value is about 100 yuan, and its main functions are beautifying, nourishing, health-care, resolving depression and tranquilizing, regulating liver and kidney functions and protecting cardio-cerebral blood vessel, so that it can be extensively used in various health-care products. Because saffron has higher economic value and the market supply is short, the saffron has good planting prospect.
The flowering period of saffron is only about 15 days, production requires that silks are collected immediately after flowering, the stigma which is collected later than pistil is very easy to be stained with yellow pollen, the appearance of the silks is influenced, meanwhile, yellow style cannot be mixed into the stigma, otherwise, the quality grade of the silks is directly influenced, and the economic value of the silks is influenced.
The current main factor restricting saffron crocus planting is the contradiction between low efficiency of artificial silk picking and sudden increase of the silk picking requirement in a short time after large-scale planting. The existing filament picking work is mainly finished by hands, the efficiency is low, and the quality of picked filaments completely depends on the operation of workers. After large-scale planting, the income of planting farmers is reduced because a great amount of saffron crocus is not harvested in time.
Disclosure of Invention
The invention mainly solves the defects of time and labor waste, low efficiency and inconvenient operation in the prior art, and provides a saffron crocus silk collecting device and a control method thereof, which have the advantages of simple structure, time and labor saving, high efficiency and convenient operation. Solves the problem of difficult filament collection of safflower.
The technical problem of the invention is mainly solved by the following technical scheme:
the utility model provides a saffron crocus silk picking device, includes the frame, the anterior upper end of frame be equipped with inhale the start, inhale start lower extreme be equipped with inhale the silk mechanism of getting that the start is linked together, get silk mechanism and be connected fixedly with the frame, inhale start top be equipped with and be connected fixedly with the frame snatch the mechanism.
As preferred, the machine of starting of inhaling include the mounting panel, the mounting panel in the middle of the trompil, the lower extreme of mounting panel use the hole to be equipped with a plurality of telescopic cylinder that are the annular and distribute as the center, telescopic cylinder lower extreme be equipped with the trachea, the trachea front end be equipped with the sucking disc, mounting panel lower extreme both sides on all be equipped with the reposition of redundant personnel piece that is linked together with the trachea, the mounting panel side be equipped with and be oblique angle welded deflector with the mounting panel.
Preferably, the front end of the telescopic cylinder is provided with an air pipe fixing plate which is in penetrating type sleeve joint with the air pipe, and the rear end of the telescopic cylinder is provided with an air pipe guide plate which is in waist circular hole type sleeve joint with the air pipe.
As preferred, snatch the mechanism and include the translation cylinder, the translation cylinder pass through translation cylinder mounting panel and install in the frame, translation cylinder lower extreme be equipped with revolving cylinder, revolving cylinder on be equipped with pneumatic clamping jaw, pneumatic clamping jaw and revolving cylinder between adopt pneumatic clamping jaw mount pad to be connected fixedly, pneumatic clamping jaw lower extreme be equipped with a pair of movable clamp splice that touches and connect, revolving cylinder and translation cylinder between be equipped with lift cylinder, lift cylinder and translation cylinder between be equipped with the lift cylinder mounting panel, lift cylinder and revolving cylinder between be equipped with the revolving cylinder mount pad.
Preferably, the upper end of the rear part of the rack is provided with a pneumatic valve communicated with a translation cylinder, a lifting cylinder, a rotating cylinder and a pneumatic clamping jaw phase air pipe, and the side edge of the pneumatic valve is provided with an electric control cabinet communicated with the pneumatic valve, an inhaling machine and a thread taking mechanism phase circuit.
As preferred, get silk mechanism and include the motor mount pad, motor mount pad lower extreme both sides be equipped with frame looks screw connection fixed lifting cylinder, motor mount pad upper end be equipped with the screen cloth, screen cloth and motor mount pad between be equipped with a plurality of bracing pieces, the screen cloth lower extreme be equipped with the silica gel cylinder, silica gel cylinder both ends and motor mount pad between be equipped with the bearing frame, the screen cloth side be equipped with the motor, motor and silica gel cylinder between be equipped with the shaft coupling, motor and motor mount pad between be equipped with the motor mount pad that cup joints mutually with the motor.
Preferably, the lower end of the frame is provided with a plurality of foot seats which are inserted and sleeved with the frame.
A control method of a saffron crocus silk collecting device comprises the following operation steps:
the first step is as follows: the flower stalk of saffron crocus is placed into the clamping block of the pneumatic clamping jaw by manpower or a mechanical arm.
The second step is that: snatch the lift cylinder lifting of mechanism, the translation cylinder drives pneumatic clamping jaw and drives the tight saffron sideslip motion of clamp splice clamp after that, and revolving cylinder drives pneumatic clamping jaw anticlockwise rotation 90, and the lift cylinder descends this moment, drives the saffron crocus to the mounting panel round hole center top of inhaling the start machine.
The third step: the telescopic cylinder on the suction machine stretches out, so that the sucker is aligned to the petal position, the sucker generates negative pressure through the air pipe, the petal is sucked, the telescopic cylinder retracts at the moment, and the sucker is driven to open the petal.
The fourth step: the lifting cylinder of the silk taking mechanism is lifted, the silks enter a crack of the silica gel roller through the screen, then the motor starts to drive the silica gel roller to work, and the silks are pulled out from the flower column under the friction force of the silica gel roller.
The fifth step: the lifting cylinder falls down, and the lift cylinder who snatchs the mechanism rises, and revolving cylinder drives pneumatic clamping jaw anticlockwise and rotates 90 again, and pneumatic clamping jaw opens this moment, and the saffron crocus falls into the deflector perpendicularly, then revolving cylinder drives pneumatic clamping jaw clockwise rotation 180 resets.
The invention can achieve the following effects:
compared with the prior art, the saffron crocus silk collecting device and the control method thereof have the advantages of simple structure, time and labor conservation, high efficiency and convenience in operation. Solves the problem of difficult filament collection of safflower.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the grasping mechanism of the invention.
Fig. 3 is a schematic structural diagram of the suction machine of the present invention.
Fig. 4 is a schematic structural view of the thread take-off mechanism of the present invention.
Fig. 5 is a schematic view of the mounting structure of the frame and the wire taking mechanism of the invention.
Fig. 6 is a schematic structural view of saffron of the present invention.
Fig. 7 is a schematic view of the petal expansion configuration of the present invention.
In the figure: the device comprises a rack 2, an inhalation machine 3, a mounting plate 31, a guide plate 32, an air pipe guide plate 33, an air pipe 34, a telescopic air cylinder 35, an air pipe fixing plate 36, a sucking disc 37, a flow dividing block 38, a grabbing mechanism 4, a translation air cylinder mounting plate 41, a translation air cylinder 42, a lifting air cylinder 43, a lifting air cylinder mounting plate 44, a rotary air cylinder mounting seat 45, a rotary air cylinder 46, a pneumatic clamping jaw mounting seat 47, a pneumatic clamping jaw 48, a clamping block 49, an air-operated valve 5, an electric control cabinet 6, a wire taking mechanism 7, a lifting air cylinder 71, a lifting mounting seat 72, a motor mounting seat 73, a motor 74, a coupler 75, a screen 76, a silica gel roller 77, a bearing seat 78, a supporting rod 79, a foot seat 8, saffron crocus 9, flower stalks 91, petals 92, flower filaments 93 and flower columns 94.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b): as shown in fig. 1-7, a saffron crocus silk collecting device comprises a frame 2, wherein the lower end of the frame 2 is provided with 4 footstands 8 which are inserted and sleeved with the frame 2. The upper end of the front part of the frame 2 is provided with the suction machine 3, the lower end of the suction machine 3 is provided with a wire taking mechanism 7 communicated with the suction machine 3, the wire taking mechanism 7 is fixedly connected with the frame 2, and a grabbing mechanism 4 fixedly connected with the frame 2 is arranged above the suction machine 3. The upper end of the rear part of the frame 2 is provided with a pneumatic valve 5 communicated with a translation cylinder 42, a lifting cylinder 43, a rotating cylinder 46 and a pneumatic clamping jaw 48 through air pipes, and the side edge of the pneumatic valve 5 is provided with an electric control cabinet 6 communicated with the pneumatic valve 5, the suction machine 3 and the silk taking mechanism 7 through circuits.
The suction machine 3 comprises a mounting plate 31, a hole is formed in the middle of the mounting plate 31, 6 telescopic cylinders 35 which are distributed annularly are arranged at the lower end of the mounting plate 31 by taking the hole as the center, an air pipe 34 is arranged at the lower end of each telescopic cylinder 35, a suction disc 37 is arranged at the front end of each air pipe 34, shunting blocks 38 communicated with the air pipes 34 are arranged on two side edges of the lower end of the mounting plate 31, and guide plates 32 welded at an oblique angle with the mounting plate 31 are arranged on the side edges of the mounting plate 31. The front end of the telescopic cylinder 35 is provided with an air pipe fixing plate 36 which is in penetrating type sleeved connection with the air pipe 34, and the rear end of the telescopic cylinder 35 is provided with an air pipe guide plate 33 which is in waist circular hole type sleeved connection with the air pipe 34.
The wire taking mechanism 7 comprises a motor mounting seat 72, two sides of the lower end of the motor mounting seat 72 are provided with lifting cylinders 71 which are fixedly connected with the frame 2 through screws, the upper end of the motor mounting seat 72 is provided with a screen 76, 4 support rods 79 are arranged between the screen 76 and the motor mounting seat 72, the lower end of the screen 76 is provided with a silica gel roller 77, bearing seats 78 are arranged between two ends of the silica gel roller 77 and the motor mounting seat 72, a motor 74 is arranged on the side edge of the screen 76, a coupler 75 is arranged between the motor 74 and the silica gel roller 77, and a motor mounting seat 73 which is sleeved with the motor 74 is arranged between the motor 74 and the motor mounting seat 72.
A control method of a saffron crocus silk collecting device comprises the following operation steps:
the first step is as follows: the flower stalk 91 of saffron 9 is placed manually or by a robot into the clamp block 49 of the pneumatic clamp jaw 48.
The second step is that: snatch the lift cylinder 43 lifting of mechanism 4, translation cylinder 42 drives pneumatic clamping jaw 48 and drives the tight saffron 9 sideslip motion of clamp splice 49 after that, and revolving cylinder 46 drives pneumatic clamping jaw 48 anticlockwise rotation 90, and lift cylinder 43 descends this moment, drives saffron 9 to the mounting panel 31 round hole center top of inhaling start machine 3.
The third step: the telescopic cylinder 35 on the suction machine 3 extends out, so that the suction disc 37 is aligned to the petal 92, the suction disc 37 generates negative pressure through the air pipe 34, the petal 92 is sucked, the telescopic cylinder 35 retracts at the moment, and the suction disc 37 is driven to open the petal 92.
The fourth step: the lifting cylinder 71 of the filament taking mechanism 7 is lifted, the filament 93 enters the gap of the silica gel roller 77 through the screen 76, then the motor 74 starts to drive the silica gel roller 77 to work, and the filament 93 is pulled out from the flower column 94 by the friction force of the silica gel roller 77.
The fifth step: lifting cylinder 71 falls down, and the lift cylinder 43 who snatchs mechanism 4 rises, and revolving cylinder 46 drives pneumatic clamping jaw 48 anticlockwise and rotates 90 again, and pneumatic clamping jaw 48 opens this moment, and saffron 9 falls into deflector 32 perpendicularly, and then revolving cylinder 46 drives pneumatic clamping jaw 48 clockwise rotation 180 resets.
In conclusion, the saffron crocus silk collecting device and the control method thereof have the advantages of simple structure, time and labor conservation, high efficiency and convenience in operation. Solves the problem of difficult filament collection of safflower.
The above description is only an embodiment of the present invention, but the structural features of the present invention are not limited thereto, and any changes or modifications within the scope of the present invention by those skilled in the art are covered by the present invention.
Claims (3)
1. The utility model provides a silk device is adopted to saffron crocus which characterized in that: the automatic silk picking machine comprises a rack (2), wherein an inhaling machine (3) is arranged at the upper end of the front part of the rack (2), a silk picking mechanism (7) communicated with the inhaling machine (3) is arranged at the lower end of the inhaling machine (3), the silk picking mechanism (7) is fixedly connected with the rack (2), and a grabbing mechanism (4) fixedly connected with the rack (2) is arranged above the inhaling machine (3);
the suction machine (3) comprises a mounting plate (31), a hole is formed in the middle of the mounting plate (31), a plurality of telescopic cylinders (35) distributed in an annular mode are arranged at the lower end of the mounting plate (31) by taking the hole as the center, an air pipe (34) is arranged at the lower end of each telescopic cylinder (35), a suction disc (37) is arranged at the front end of each air pipe (34), shunting blocks (38) communicated with the air pipes (34) are arranged on two side edges of the lower end of the mounting plate (31), and guide plates (32) welded with the mounting plate (31) at an inclined angle are arranged on the side edges of the mounting plate (31); the front end of the telescopic cylinder (35) is provided with an air pipe fixing plate (36) which is in penetrating type sleeve joint with the air pipe (34), and the rear end of the telescopic cylinder (35) is provided with an air pipe guide plate (33) which is in waist circular hole type sleeve joint with the air pipe (34);
the grabbing mechanism (4) comprises a translation cylinder (42), the translation cylinder (42) is installed on the rack (2) through a translation cylinder installation plate (41), a rotary cylinder (46) is arranged at the lower end of the translation cylinder (42), a pneumatic clamping jaw (48) is arranged on the rotary cylinder (46), a pneumatic clamping jaw installation seat (47) is adopted between the pneumatic clamping jaw (48) and the rotary cylinder (46) for connection and fixation, a pair of movable contact clamping blocks (49) is arranged at the lower end of the pneumatic clamping jaw (48), a lifting cylinder (43) is arranged between the rotary cylinder (46) and the translation cylinder (42), a lifting cylinder installation plate (44) is arranged between the lifting cylinder (43) and the translation cylinder (42), and a rotary cylinder installation seat (45) is arranged between the lifting cylinder (43) and the rotary cylinder (46);
the silk taking mechanism (7) comprises a lifting mounting seat (72), two sides of the lower end of the lifting mounting seat (72) are provided with lifting cylinders (71) which are fixedly connected with the frame (2) through screws, the upper end of the lifting mounting seat (72) is provided with a screen (76), a plurality of support rods (79) are arranged between the screen (76) and the lifting mounting seat (72), the lower end of the screen (76) is provided with a silica gel drum (77), a bearing seat (78) is arranged between two ends of the silica gel drum (77) and the lifting mounting seat (72), the side edge of the screen (76) is provided with a motor (74), a coupler (75) is arranged between the motor (74) and the silica gel drum (77), and a motor mounting seat (73) which is sleeved with the motor (74) is arranged between the motor (74) and the lifting mounting seat (72);
the control method of the saffron crocus silk collecting device comprises the following operation steps:
the first step is as follows: placing a flower handle (91) of the saffron crocus (9) into a clamping block (49) of a pneumatic clamping jaw (48) manually or by a manipulator;
the second step is that: a lifting cylinder (43) of the grabbing mechanism (4) is lifted, then a translation cylinder (42) drives a pneumatic clamping jaw (48) to drive a clamping block (49) to clamp the saffron crocus (9) to move transversely, a rotating cylinder (46) drives the pneumatic clamping jaw (48) to rotate 90 degrees anticlockwise, and at the moment, the lifting cylinder (43) descends to drive the saffron crocus (9) to be above the center of a circular hole of a mounting plate (31) of the sucking machine (3);
the third step: the telescopic cylinder (35) on the suction machine (3) extends out, so that the suction disc (37) is aligned to the petals (92), the suction disc (37) generates negative pressure through the air pipe (34), so that the petals (92) are sucked, and at the moment, the telescopic cylinder (35) retracts to drive the suction disc (37) to open the petals (92);
the fourth step: the lifting cylinder (71) of the silk taking mechanism (7) is lifted, the silks (93) enter a crack of the silica gel drum (77) through the screen (76), then the motor (74) starts to drive the silica gel drum (77) to work, and the silks (93) are pulled out from the flower column (94) under the friction force of the silica gel drum (77);
the fifth step: lifting cylinder (71) falls down, and lifting cylinder (43) of grabbing mechanism (4) rises, and revolving cylinder (46) drive pneumatic clamping jaw (48) anticlockwise rotates 90 again, and pneumatic clamping jaw (48) open this moment, and saffron crocus (9) fall into deflector (32) perpendicularly, and then revolving cylinder (46) drive pneumatic clamping jaw (48) clockwise rotation 180 resets.
2. The saffron crocus silking device of claim 1, wherein: the pneumatic valve (5) communicated with the translation cylinder (42), the lifting cylinder (43), the rotating cylinder (46) and the pneumatic clamping jaw (48) through the air pipe is arranged at the upper end of the rear part of the rack (2), and an electric control cabinet (6) communicated with the pneumatic valve (5), the suction machine (3) and the wire taking mechanism (7) through circuits is arranged on the side edge of the pneumatic valve (5).
3. The saffron crocus silking device of claim 1, wherein: the lower end of the frame (2) is provided with a plurality of foot seats (8) which are inserted and sleeved with the frame (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110701337.5A CN113455188B (en) | 2021-06-23 | 2021-06-23 | Saffron crocus silk collecting device and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110701337.5A CN113455188B (en) | 2021-06-23 | 2021-06-23 | Saffron crocus silk collecting device and control method thereof |
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| Publication Number | Publication Date |
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| CN113455188A CN113455188A (en) | 2021-10-01 |
| CN113455188B true CN113455188B (en) | 2022-09-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| GB734944A (en) * | 1952-10-08 | 1955-08-10 | George Arthur Hinds | Improvements in or relating to separating and sorting devices |
| CN103250515A (en) * | 2013-06-06 | 2013-08-21 | 刘启超 | Honeysuckle picking machine |
| CN205879558U (en) * | 2016-06-24 | 2017-01-11 | 石河子大学 | Test bench is picked to safflower |
| CN106723137A (en) * | 2016-12-03 | 2017-05-31 | 深圳市富聚胜达科技有限公司 | A kind of pericarp peel-off device for citrus fruit |
| CN107258236A (en) * | 2016-04-08 | 2017-10-20 | 石河子大学 | A kind of safflower filament harvester |
| CN206835668U (en) * | 2017-06-04 | 2018-01-05 | 迪庆香格里拉金坷生物资源开发有限公司 | A kind of safflower picker |
| CN108738686A (en) * | 2018-08-20 | 2018-11-06 | 石河子大学 | A kind of profiling aspiration cutting type safflower silk harvesting apparatus |
| CN208191360U (en) * | 2018-05-10 | 2018-12-07 | 石河子大学 | A kind of safflower filament picking end effector |
| CN209080914U (en) * | 2018-11-01 | 2019-07-09 | 巨力自动化设备（浙江）有限公司 | Generator rotor shaft pressure-bearing fills defective products discharger |
| CN110558048A (en) * | 2019-08-07 | 2019-12-13 | 徐州盛斗士生物科技有限公司 | Saffron reverse butt-joint air-suction fully-open type self-positioning flexible filament stripping robot |
-
2021
- 2021-06-23 CN CN202110701337.5A patent/CN113455188B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB734944A (en) * | 1952-10-08 | 1955-08-10 | George Arthur Hinds | Improvements in or relating to separating and sorting devices |
| CN103250515A (en) * | 2013-06-06 | 2013-08-21 | 刘启超 | Honeysuckle picking machine |
| CN107258236A (en) * | 2016-04-08 | 2017-10-20 | 石河子大学 | A kind of safflower filament harvester |
| CN205879558U (en) * | 2016-06-24 | 2017-01-11 | 石河子大学 | Test bench is picked to safflower |
| CN106723137A (en) * | 2016-12-03 | 2017-05-31 | 深圳市富聚胜达科技有限公司 | A kind of pericarp peel-off device for citrus fruit |
| CN206835668U (en) * | 2017-06-04 | 2018-01-05 | 迪庆香格里拉金坷生物资源开发有限公司 | A kind of safflower picker |
| CN208191360U (en) * | 2018-05-10 | 2018-12-07 | 石河子大学 | A kind of safflower filament picking end effector |
| CN108738686A (en) * | 2018-08-20 | 2018-11-06 | 石河子大学 | A kind of profiling aspiration cutting type safflower silk harvesting apparatus |
| CN209080914U (en) * | 2018-11-01 | 2019-07-09 | 巨力自动化设备（浙江）有限公司 | Generator rotor shaft pressure-bearing fills defective products discharger |
| CN110558048A (en) * | 2019-08-07 | 2019-12-13 | 徐州盛斗士生物科技有限公司 | Saffron reverse butt-joint air-suction fully-open type self-positioning flexible filament stripping robot |
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| CN113455188A (en) | 2021-10-01 |
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