CN114938739A - Five-axis manipulator-based multifunctional sweet osmanthus picking and collecting device and method - Google Patents
Five-axis manipulator-based multifunctional sweet osmanthus picking and collecting device and method Download PDFInfo
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- CN114938739A CN114938739A CN202210481815.0A CN202210481815A CN114938739A CN 114938739 A CN114938739 A CN 114938739A CN 202210481815 A CN202210481815 A CN 202210481815A CN 114938739 A CN114938739 A CN 114938739A
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- 244000242564 Osmanthus fragrans Species 0.000 title claims abstract description 73
- 235000019083 Osmanthus fragrans Nutrition 0.000 title claims abstract description 73
- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000000203 mixture Substances 0.000 claims abstract description 10
- 235000019082 Osmanthus Nutrition 0.000 claims description 14
- 241000333181 Osmanthus Species 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 9
- 238000003306 harvesting Methods 0.000 claims description 2
- 239000000969 carrier Substances 0.000 abstract 1
- 238000000926 separation method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 206010011224 Cough Diseases 0.000 description 1
- 206010062717 Increased upper airway secretion Diseases 0.000 description 1
- 244000269722 Thea sinensis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000005056 cell body Anatomy 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 208000026435 phlegm Diseases 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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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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- 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
- A01D46/22—Baskets or bags attachable to the picker
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a multifunctional sweet osmanthus picking and collecting device and method based on a five-axis mechanical arm in the field of flower picking instruments, wherein the five-axis mechanical arm is adjusted, a picking head is adjusted to a position where sweet osmanthus is to be picked, a driving brush roller and a driven brush roller which synchronously rotate in a reverse direction are opposite to sweet osmanthus and are rolled between the sweet osmanthus and branches and leaves, the sweet osmanthus and the branches and leaves are transmitted to a driving rubber roller and a driven rubber roller which are right below the sweet osmanthus and the branches and leaves, the branches and leaves are contacted and rolled with the driving rubber roller and the driven rubber roller which synchronously rotate in the reverse direction, a mixture of the sweet osmanthus and the branches and leaves falls into a picking head shell and then falls into a flower and leaf separating device, the flower and leaf separating device pushes out the branches and leaves with larger body size through the rotation of a screw rod, and the sweet osmanthus with smaller body size falls into a collecting device after being filtered out of a filter screen at the bottom; the invention takes five-axis mechanical arms as carriers, can be adjusted according to different growth conditions of branches of the osmanthus fragrans, realizes picking of the osmanthus fragrans in different directions and angles, and effectively separates and collects the osmanthus fragrans from picked objects.
Description
Technical Field
The invention relates to the field of flower picking instruments, in particular to an osmanthus picking device, and specifically relates to an osmanthus picking and collecting device based on five-axis mechanical arms.
Background
The sweet osmanthus is a medicinal material, has the efficacies of reducing phlegm and relieving cough, dispelling cold and breaking knots, can be used for treating diseases, can also be used as tea for making dishes, and has high nutritional value. Most of the existing sweet osmanthus picking modes are still picking manually, the picking difficulty is high, the picking efficiency is low, and the sweet osmanthus is easy to fall to cause waste.
Chinese patent publication is CN107667666A, the position is picked to sweet-scented osmanthus disclosed in the literature of the name "device is picked to sweet-scented osmanthus with adjustable", its support body is whole to be the slope structural design, including the rectangular groove device, remove rail set, support module, lower flitch device, collect the bag, the cell body front end sets up collection structure, including variable ring device, movable module, vibrating brush piece subassembly and connecting device, during the use, the handheld support body of operator is through adjusting master control device, circle the corresponding operation scope of definite and carry out portable harvesting, sweet-scented osmanthus landing is collected in the low side collection bag, the problem that this picking device exists is: the frame body needs to be manually held, the degree of freedom is low, the picking directions and angles which can be achieved are limited, and the picking efficiency is still low.
Disclosure of Invention
The invention aims to solve the problems that the existing osmanthus picking device needs to be manually held, the picking efficiency is low, and the picking direction and angle are limited, provides an efficient multi-functional osmanthus picking and collecting device based on a five-axis manipulator, and simultaneously provides a picking and collecting method of the osmanthus picking and collecting device.
In order to achieve the purpose, the multifunctional sweet osmanthus picking and collecting device based on the five-axis manipulator adopts the following technical scheme: the multi-direction multi-angle rotary picking head comprises a five-axis manipulator capable of rotating in multiple directions and multiple angles, wherein the tail end of the five-axis manipulator is connected with a picking head, the picking head comprises a picking head shell and a sixth motor which is horizontally arranged, the upper end of the picking head shell is open, a sixth motor output shaft which is connected to the picking head shell is fixedly connected with a motor shaft belt wheel coaxially, the motor shaft belt wheel is connected with a rubber roller belt wheel through a first belt, a second belt is connected with a brush roller belt wheel, a brush roller belt wheel and a brush roller driving gear are sleeved on a driving brush roller, the brush roller driving gear is meshed with a brush roller driven gear, the driven gear is sleeved on a driven brush roller, and the driving brush roller and the driven brush roller are arranged at the position of the opening at the upper end of the picking head shell and at the same horizontal height; the driving rubber roller is sleeved with the rubber roller belt wheel and the rubber roller driving gear, the rubber roller driving gear is meshed with the rubber roller driven gear, the rubber roller driven gear is fixedly sleeved on the driven rubber roller, and the driving rubber roller and the driven rubber roller are at the same horizontal height; the driving rubber roller and the driven rubber roller are arranged right below the driving brush roller and the driven brush roller and are parallel to each other; the lower end of the picking head shell is connected with a flower leaf separating device below through a telescopic folding conduit, and a collecting device is arranged below the flower leaf separating device.
Furthermore, the flower leaf separating device is provided with a separating device shell, a horizontal screw rod is arranged in the separating device shell, a seventh motor output shaft connected to the separating device shell is coaxially connected with the screw rod, and a filter screen which can enable sweet osmanthus to pass through and can not enable branches and leaves to pass through is arranged at the bottom of the separating device shell.
Furthermore, the five-axis manipulator consists of a manipulator base, a first joint base, a first mechanical arm, a second mechanical arm and a third mechanical arm which are sequentially connected, wherein the middle of the upper surface of the manipulator base is connected with the lower end of the first joint base, a first motor is vertically arranged to drive the first joint base to rotate around a vertical central shaft of the first motor, the upper end of the first joint base is connected with the head end of the first mechanical arm, a second motor connected with the head end of the first mechanical arm drives the first mechanical arm to rotate, the tail end of the first mechanical arm is connected with the head end of the second mechanical arm, and a third motor connected with the head end of the second mechanical arm drives the second mechanical arm to rotate; the tail end of the second mechanical arm is connected with the head end of a third mechanical arm, a fourth motor connected to the tail end of the second mechanical arm drives the third mechanical arm to rotate, and the tail end of the third mechanical arm is connected with the picking head shell through a fifth motor and a coupler to drive the picking head to rotate; the fifth motor is orthogonal to the first motor and the fourth motor in space, and the second motor, the third motor and the fourth motor are horizontally arranged and are parallel to each other.
The technical scheme of the picking and collecting method of the multifunctional sweet osmanthus picking and collecting device based on the five-axis mechanical arm comprises the following steps:
the method comprises the following steps: the sixth motor is started, the driving brush roller and the driven brush roller synchronously rotate in the reverse direction, the five-axis mechanical arm is adjusted, and the picking head is adjusted to the position where the sweet osmanthus is to be picked, so that the driving brush roller and the driven brush roller are directly opposite to the sweet osmanthus and branches and leaves, and the sweet osmanthus and branches and leaves are rolled between the driving brush roller and the driven brush roller;
step two: sweet osmanthus and branches and leaves are transferred to a driving rubber roller and a driven rubber roller which are right below the sweet osmanthus and the branches and leaves, the branches and the leaves are contacted and rolled with the driving rubber roller and the driven rubber roller which synchronously rotate in the opposite direction, the mixture of the sweet osmanthus and the branches and the leaves falls into a picking head shell, and then the mixture falls into a leaf separating device through a telescopic folding hose downwards;
step three: the flower and leaf separating device pushes out the branches and leaves with larger body type through the rotation of the horizontal screw rod arranged in the flower and leaf separating device, and the sweet osmanthus with smaller body type falls down in the collecting device after being filtered out from the filter screen at the bottom.
The invention adopts the technical scheme and has the beneficial effects that:
1. the five-axis mechanical arm is used as a carrier, the five-axis mechanical arm can be adjusted according to different growth conditions of the branches of the osmanthus fragrans, the osmanthus fragrans in different directions and angles can be picked, and the mechanical arm moves rapidly and flexibly. The accurate control of the sweet osmanthus flower picking position can be realized, the sweet osmanthus flower collecting device is connected, sweet osmanthus flowers in picking objects can be effectively separated and collected, and the picking and collecting efficiency of the sweet osmanthus flowers is greatly improved.
2. The picking head adopts a double-brush roller steering mechanism and a rubber roller steering mechanism. Wherein, the brush material is soft and toughness is big, has the effect of whipping and brush branch during the rotation simultaneously, also can adapt to the actual behavior who picks different diameter branches simultaneously. The rubber roller is made of a material with high elasticity and high toughness, and has a self-adaptive effect on branches with different thicknesses.
3. The three mechanical arms of the picking head enable the picking head to be adjusted more flexibly, so that the picking head is high in adjusting efficiency and suitable for complex adjusting movement. The adjusting function of the robot mainly depends on changing the closing state and the steering of the motor, and the control is very simple, so that a simple remote control device can be used for controlling the operation of the whole manipulator, or the whole operation process can be designed into a computer program by adopting a computer programming means, and the automatic acquisition effect is realized.
4. The invention adopts an independent flower and leaf separating device, the main body part of the flower and leaf separating device adopts a screw rod to rotate, the screw rod pushes the flower and leaf mixture to continuously roll and continuously move forwards, and the osmanthus with smaller volume leaks from the filter screen, thereby realizing the flower and leaf separation.
5. According to the five-axis manipulator-based multifunctional sweet osmanthus picking and collecting device, the collecting device is supported by the five-axis manipulator, so that the picking position of sweet osmanthus can be accurately controlled, the sweet osmanthus collecting device is connected, sweet osmanthus in a picked object can be effectively separated and collected, and the picking and collecting efficiency of sweet osmanthus is greatly improved.
Drawings
The invention is described in further detail below with reference to the following figures and detailed description:
FIG. 1 is an axonometric view of a multifunctional sweet osmanthus picking and collecting device based on five-axis mechanical arms;
fig. 2 is an enlarged front view of the robot base 1 in fig. 1;
fig. 3 is a cross-sectional view of fig. 2 with the first electric machine 1b removed;
FIG. 4 is an enlarged isometric view of the first joint mount 2 and the first robot arm 3 of FIG. 1;
FIG. 5 is an exploded view of FIG. 4;
FIG. 6 is an enlarged isometric view of the first robot arm 3 and the second robot arm 4 of FIG. 1;
FIG. 7 is an exploded view of FIG. 6;
FIG. 8 is an enlarged isometric view of the second arm 4 and the third arm 6 of FIG. 1;
FIG. 9 is an exploded schematic view of FIG. 8;
fig. 10 is an enlarged front view of the connection of the picking head 5 and the third robot arm 6 in fig. 1;
FIG. 11 is an exploded schematic view of FIG. 10;
fig. 12 is an enlarged interior isometric view of the picking head 5 of fig. 1;
FIG. 13 is an enlarged isometric view of the flower and leaf separating device 8 of FIG. 1;
fig. 14 is an isometric view of fig. 13 with the upper separator housing 8e removed.
In the figure: 1. a manipulator base; 1a base table; 1b. a first motor; 1c, turning a base to a large gear; 1d, a base steering pinion; 1e, a base turntable; 1f, a base rotating shaft; 1g, an upper bearing; 1h, a lower bearing; 2. a first joint base; a first joint base turntable; 2b. a second motor; 2c, a bond; 2d, cylindrical bosses; 3. a first robot arm; 3a, a first mechanical arm body; 3b. a third motor; 3c, deep groove ball bearing; 3d. a bond; 3e, deep groove ball bearing; 4. a second mechanical arm; 4a, a second mechanical arm body; 4b. a fourth motor; 4c. a bond; 4d, cylindrical bosses; 5. picking heads; a sixth motor; 5b, a motor shaft belt wheel; 5c, a rubber roller belt wheel; 5d, a brush roller belt wheel; 5e, driving the brush roller; 5f, driven brush roller; 5g, a driven gear of the brush roller; 5h, driving a driving gear of the brush roller; 5i, a rubber roller driven gear; 5j. a driven rubber roller; 5k, a rubber roller driving gear; 5l, driving rubber roller; 5m. picking head shell; 5n. a coupler; 5o. a bond; 6. a third mechanical arm; a fifth motor; 6b, a third mechanical arm body; 6c, deep groove ball bearings; 6d, cylindrical bosses; 7. a telescopic folding catheter; 8. a flower and leaf separating device; a separator base; a seventh motor; 8c, separating the small belt wheel of the device; 8d, separating the big belt wheel of the device; 8e, separating the upper shell of the device; 8f, a feed inlet; 8g, a lower shell of the separation device; 8h, guiding a slope; 8i. a screw rod; 9. and (4) a collecting device.
Detailed Description
For ease of understanding, the spatial orientation of the present invention is now defined, with the robot base 1 being "down" and the picking heads 5 being "up" as shown in fig. 1.
As shown in figure 1, the multifunctional sweet osmanthus picking and collecting device based on the five-axis manipulator comprises the five-axis manipulator capable of rotating in multiple directions and multiple angles, wherein the five-axis manipulator is composed of a manipulator base 1, a first joint base 2, a first mechanical arm 3, a second mechanical arm 4 and a third mechanical arm 6 which are sequentially connected, the first joint base 2 is arranged above the manipulator base 1 and connected with the lower end of the first joint base 2, the upper end of the first joint base 2 is connected with the head end of the first mechanical arm 3, the tail end of the first mechanical arm 3 is connected with the head end of the second mechanical arm 4, the tail end of the second mechanical arm 4 is connected with the head end of the third mechanical arm 6, the tail end of the third mechanical arm 6 is also the tail end of the five-axis manipulator, and the tail end of the five-axis manipulator is connected with a picking head 5. The position and the angle of the picking head 5 can be adjusted by the five-axis manipulator, and the picking head 5 is driven to pick sweet osmanthus in multiple directions and multiple angles.
The lower end of the picking head 5 is sequentially connected with a telescopic folding conduit 7 and a flower leaf separating device 8, a collecting device 9 is arranged below the flower leaf separating device 8, the picking head 5 conveys picked sweet osmanthus flowers and leaves to the flower leaf separating device 8 through the telescopic folding conduit 7, the flower leaf separating device 8 separates sweet osmanthus flowers from branches and leaves, and the collecting device 9 is used for collecting the separated sweet osmanthus flowers.
The bottom of the five-axis manipulator is a manipulator base 1, the manipulator base 1 is placed on a horizontal plane, a first joint base 2 is connected to the middle of the upper surface of the manipulator base 1, the central shaft of the first joint base 2 is vertically arranged, and the first joint base 2 can rotate 360 degrees around the central shaft of the first joint base 2. The head end of a first mechanical arm 3 is connected to the middle of the upper surface of the first joint base 2, the first mechanical arm 3 can rotate on the vertical plane relative to the first joint base 2, the tail end of the first mechanical arm 3 is connected with the head end of a second mechanical arm 4, the second mechanical arm 4 can rotate on the vertical plane relative to the first mechanical arm 3, the tail end of the second mechanical arm 4 is connected with the head end of a third mechanical arm 6, and the third mechanical arm 6 can rotate on the vertical plane relative to the second mechanical arm 4. Picking head 5 passes through the coupling joint with the end of third arm 6, and picking head 5 rotates around second arm 4 along with third arm 6, realizes picking head 5's position control.
The upper end of the telescopic folding conduit 7 is positioned at the lower opening of the picking head 5 and is connected with the picking head, the lower end of the telescopic folding conduit is connected with the flower leaf separating device 8, and the collecting device 9 is positioned below the flower leaf separating device 9 and is placed on the horizontal plane. The upper port of the picking head 5 is open and is aligned with the position of flower and leaf of osmanthus fragrans needing to be picked, osmanthus fragrans and branches and leaves are knocked down and enter the picking head 5, the osmanthus fragrans and branches and leaves are input into a flower and leaf separating device 8 through a telescopic folding conduit 7 at the lower part, and the separated osmanthus fragrans fall into a collecting device 9, so that the picking and the collection of osmanthus fragrans are realized.
With reference to the structure of the manipulator base 1 shown in fig. 2 and 3, the manipulator base 1 is composed of a base table 1a, a first motor 1b, a base steering large gear 1c, a base steering small gear 1d, a base turntable 1e, a base rotating shaft 1f, an upper bearing 1g, and a lower bearing 1h. The base platform 1a has two upper and lower round platforms, by stand fixed connection between two round platforms, first motor 1b, the base turns to gear wheel 1c, base turns to pinion 1d between two round platforms, first motor 1b arranges perpendicularly, its output shaft is upwards, the casing of first motor 1b passes through the motor mounting panel to be fixed on round platform down, coaxial fixed cover is turning to pinion 1d on the output shaft of first motor 1b, base turns to pinion 1d and base and turns to gear wheel 1c and mesh mutually, the coaxial fixed cover of base turning to gear wheel 1c is on the base pivot 1f of arranging perpendicularly, it is rotatory to drive base pivot 1f. The base rotating shaft 1f is arranged in the middle of the base platform 1a, the lower end of the base rotating shaft is connected with the lower circular table of the base platform 1a through a lower bearing 1h, and the upper end of the base rotating shaft is connected with the upper circular table of the base platform 1a through an upper bearing 1g. The upper end of the base rotating shaft 1f is coaxially and fixedly connected with a base turntable 1e, the base turntable 1e is horizontally arranged, and the base turntable 1e and the base rotating shaft 1f are fixed through nuts, so that the base turntable 1e rotates along with the base rotating shaft 1f. The base turntable 1e is arranged above the base table 1a, the first joint base 2 is arranged above the base turntable 1e, and the first joint base 2 is fixedly connected to the base turntable 1e. When the first motor 1b works, the base steering pinion 1d transmits torque to the steering base gearwheel 1c on the base rotating shaft 1f, so that the base rotating shaft 1f rotates, and the first joint base 2 is driven to rotate around the base rotating shaft 1f on the horizontal plane.
As shown in fig. 4 and 5, the first joint base 2 is composed of a first joint base turntable 2a and a second motor 2b, four upright posts are fixed on the upper surface of a base turntable 1e, are provided with threads and are connected with the first joint base turntable 2a through nuts, the first joint base turntable 2a and the base turntable 1e are parallel and are both horizontally arranged, the central axes are collinear, and the first joint base turntable 2a is driven to rotate through the base turntable 1e. The upper end of the first joint base turntable 2a is provided with a second motor 2b, a shell of the second motor 2b is fixedly arranged on the first joint base turntable 2a, an output shaft of the second motor 2b is horizontally arranged and connected with the head end of the first mechanical arm body 3a through a key 2c, and the first mechanical arm body 3a can be driven to rotate. A horizontal cylindrical boss 2d is fixed at the upper end of the first joint base turntable 2a and used for mounting the first mechanical arm 3.
The first mechanical arm 3 is composed of a first mechanical arm body 3a and a third motor 3b, the head end of the first mechanical arm body 3a is in an inverted U shape, two side walls of the inverted U shape are provided with horizontal through holes, one of the through holes on the side walls of the inverted U shape is connected with a second motor 2b through a key 2c, the second motor 2b is arranged in the inverted U shape, and the other through hole on the side wall of the inverted U shape is connected with a cylindrical boss 2d at the upper end of a first joint base turntable 2a through a deep groove ball bearing 3c. The central axis of the cylindrical boss 2d is collinear with the output shaft of the second motor 2b. When the second motor 2b works, the first mechanical arm 3 is driven to rotate around the output shaft of the second motor 2b.
The tail end of the first mechanical arm body 3a is connected with a third motor 3b, the third motor 3b is horizontally arranged, a shell of the third motor 3b is fixedly connected with the tail end of the first mechanical arm body 3a, and an output shaft of the third motor 3b extends into a corresponding hole in the tail end of the first mechanical arm body 3a.
Referring to fig. 6 and 7, the second robot arm 4 is composed of a second robot arm body 4a and a fourth motor 4b, the second robot arm body 4a is shaped like a ladder, and two cross bars are connected in the middle. The tail end of the first mechanical arm body 3a is U-shaped, two horizontal through holes are formed in two side walls of the U shape, an output shaft of the third motor 3b extends into one corresponding through hole in the tail end of the first mechanical arm body 3a and then is connected with a corresponding hole in the head end of the second mechanical arm body 4a through a key 3d, the other through hole in the tail end of the first mechanical arm body 3a is connected with a small cylindrical boss 4d in the head end of the second mechanical arm body 4a opposite to the key 3d, and another deep groove ball bearing 3e is adopted in the connection position to reduce rolling friction. The output shaft of the third motor 3b is parallel to the output shaft of the second motor 2b all the time in space and perpendicular to the output shaft of the first motor 1b, so that the second robot arm 4 rotates around the first robot arm 3 along the output shaft of the third motor 3b. The head end of the second mechanical arm body 4a is connected with a fourth motor 4b, and an output shaft of the fourth motor 4b extends into a corresponding hole at the head end of the second mechanical arm body 4a.
As shown in fig. 8 and 9, the third robot arm 6 is composed of a third robot arm body 6b and a fifth motor 6a. The third arm body 6b has a U shape, and horizontal through holes are formed in both side walls of the U shape. The output shaft of the fourth motor 4b is horizontally arranged, extends into a corresponding through hole at the head end of the second arm body 4a, and is connected with the third arm body 6b through a key 4c in the through hole. Another through hole on the second mechanical arm body 4a is connected with a small cylindrical boss 6d on the third mechanical arm body 6b, a deep groove ball bearing 6c is adopted at the joint to reduce rolling friction, and the output shaft of the fourth motor 4b is parallel to the output shafts of the second motor 2b and the third motor 3b all the time in space and is vertical to the output shaft of the first motor 1b. So that the third mechanical arm 6 rotates around the second mechanical arm 4 along the output shaft of the fourth motor 4b. The fifth motor 6a is fixed at the middle position of the U shape of the third mechanical arm body 6b, and the output shaft of the fifth motor 6a extends out of a small hole formed in the middle of the U-shaped bottom wall of the third mechanical arm body 6b and then is connected with the picking head 5. The output shaft of the fifth motor 6a is orthogonal to the output shafts of the second motor 2b, the third motor 3b, and the fourth motor 4b all the time in space, and is also orthogonal to the output shaft of the first motor 1b.
Referring to fig. 10, 11 and 12, the picking head 5 is composed of a sixth motor 5a, a motor shaft pulley 5b, a rubber roller pulley 5c, a brush roller pulley 5d, a driving brush roller 5e, a driven brush roller 5f, a brush roller driven gear 5g, a brush roller driving gear 5h, a rubber roller driven gear 5i, a driven rubber roller 5j, a rubber roller driving gear 5k, a driving rubber roller 5l, a picking head housing 5m and a coupling 5n. The output shaft of the fifth motor 6a and the cylindrical convex body on the picking head shell 5m are coaxially connected with the coupling 5n through a key 5o respectively. Dense brushes are arranged on the driving brush roller 5e and the driven brush roller 5f.
The upper end of the picking head shell 5m is open, the shell of the sixth motor 5a is installed on the picking head shell 5m through screws, the output shaft of the sixth motor 5a is coaxially and fixedly connected with a motor shaft belt wheel 5b, and the output shaft of the sixth motor 5a is always parallel to the output shafts of the second motor 2b, the third motor 3b and the fourth motor 4b in space and is perpendicular to the output shafts of the first motor 1b and the fifth motor 6a. Two belts are arranged on the motor shaft belt wheel 5b, the first belt is correspondingly connected with the rubber roller belt wheel 5c, and the second belt is correspondingly connected with the brush roller belt wheel 5d. The motor shaft belt wheel 5b is parallel to the rubber roller belt wheel 5c and the brush roller belt wheel 5d.
The brush roller belt wheel 5d is coaxially and fixedly sleeved with the driving brush roller 5e to drive the driving brush roller 5e to rotate. The driving brush roller 5e is fixedly sleeved with a brush roller driving gear 5h, the brush roller driving gear 5h is meshed with a brush roller driven gear 5g, and the driven gear 5g is fixedly sleeved on a driven brush roller 5f. When the driving brush roller 5e rotates, the brush roller driving gear 5h, the brush roller driven gear 5g, and the driven brush roller 5f are driven to rotate. The driving brush roller 5e and the driven brush roller 5f are spatially located at the same level and are parallel to each other.
The rubber roller belt wheel 5c is coaxially and fixedly sleeved with a driving rubber roller 5l, the driving rubber roller 5l is coaxially and fixedly sleeved with a rubber roller driving gear 5k, the rubber roller driving gear 5k is meshed with a rubber roller driven gear 5i, and the rubber roller driven gear 5i is fixedly sleeved on a driven rubber roller 5j. The rubber roller pulley 5c rotates to rotate the driving rubber roller 5l, the rubber roller driving gear 5k, the rubber roller driven gear 5i, and the driven rubber roller 5j in synchronization. The driving rubber roller 5l and the driven rubber roller 5j are positioned at the same horizontal height in space, and the driving rubber roller 5l and the driven rubber roller 5j are positioned right below the driving brush roller 5e and the driven brush roller 5f and are parallel to each other. The driving brush roller 5e and the driven brush roller 5f are arranged at the upper end opening position of the picking head shell 5m, and the space above the driving brush roller 5e and the driven brush roller 5f is not shielded.
When the picking head 5 works, the sixth motor 5a is started to drive the motor shaft belt wheel 5b to rotate, and the motor shaft belt wheel 5b drives the driving brush roller 5e, the driven brush roller 5f, the driving rubber roller 5l and the driven rubber roller 5j to rotate simultaneously through two belts. Through the adjustment of the five-axis mechanical arm, the picking head 5 is adjusted to the position where the osmanthus fragrans are to be picked, so that the driving brush roller 5e and the driven brush rollers 5f are right opposite to the osmanthus fragrans and the branches and leaves, the osmanthus fragrans and the branches and leaves are knocked down, and the osmanthus fragrans and the branches and leaves are preliminarily rolled in between. The driving brush roller 5e and the driven brush roller 5f synchronously rotate in the opposite direction, so that sweet osmanthus flowers can be knocked down, and the driving brush roller and the driven brush roller have a guiding effect and transmit sweet osmanthus flowers and branches and leaves to the driving rubber roller 5l and the driven rubber roller 5j right below. The driving rubber roller 5l and the driven rubber roller 5j also synchronously rotate in opposite directions, and the sweet osmanthus flowers, branches and leaves are contacted with the rubber rollers and are rolled between the sweet osmanthus flowers and the branches and leaves under the driving of the reverse rotation motion. Thus, the mixture of the sweet osmanthus flowers, branches and leaves, which is knocked down by the driving brush roller 5e and the driven brush roller 5f falls into the picking head shell 5m, and then falls downwards into the telescopic folding hose 7 communicated with the lower end of the picking head 5. When the steering of the rubber driving rubber roller 5l and the driven rubber roller 5j is changed, the sweet osmanthus flowers and branches and leaves can be returned upwards, so that the material returning function can be realized, and the material feeding, material returning, material re-feeding, material re-returning and the like are circulated, so that the picking process is quicker.
Referring to fig. 13 and 14, the flower and leaf separating device 8 has a separating device housing formed by mating a separating device upper housing 8e and a separating device lower housing 8g. The separation device shell is internally provided with a horizontal screw rod 8i, and the screw rod 8i can rotate along the axis of the screw rod 8i. The bottom wall of the lower shell 8g of the separation device is a filter screen or a bottom wall with meshes, the aperture of the filter screen or the meshes is slightly larger than the external dimension of the osmanthus, the osmanthus can only pass through the filter screen or the meshes, but the aperture is far smaller than the dimensions of branches and leaves, and the branches and leaves cannot pass through the filter screen or the meshes. Directly below the lower housing 8g of the separating apparatus is a collection means 9. The osmanthus flowers falling from the bottom wall mesh of the separation device shell are collected by the collection device 9. The upper end of the separating device shell is provided with a feed inlet 8f, the upper end of the feed inlet 8f is communicated with the lower end of a telescopic folding hose 7, the flower and leaf separating device 8 is connected with the telescopic folding hose 7 through the feed inlet 8f, the lower end of the feed inlet 8f is communicated with the separating device shell and is positioned above one end of a spiral rod 8i, the other end of the spiral rod 8i is provided with a guide slope 8h, the guide slope 8h is connected with a lower shell 8g of the separating device, and the lower shell 8g and the spiral rod 8i are inclined towards the lower side in an inclined mode relative to the lower shell 8g of the separating device. The lower part of a lower shell 8g of the separating device is fixedly connected to a base 8a of the separating device, a seventh motor 8b which is horizontally arranged is installed on the base 8a of the separating device through screws, an output shaft of the seventh motor is coaxially and fixedly connected with a small belt wheel 8c of the separating device, the small belt wheel 8c of the separating device is connected with a large belt wheel 8d of the separating device through a belt, the large belt wheel 8d of the separating device is coaxially and fixedly connected to a screw rod 8i which is horizontally arranged, and an output shaft of the seventh motor 8b is parallel to the screw rod 8i. When the flower and leaf separating device 8 works, the seventh motor 8b is started, and the small belt wheel 8c of the separating device drives the large belt wheel 8d of the separating device to rotate, so that the screw rod 8i rotates. The flower and leaf mixture that needs the separation gets into the separator casing from feed inlet 8f along folding flexible pipe 7, receive the action of gravity to fall on the filter screen of casing 8g bottom under the separator, simultaneously, hob 8i promotes the continuous forward motion of flower and leaf mixture along the axial of hob 8i, the flower and leaf mixture is also rolling ceaselessly simultaneously, make the flower and leaf mixture fully contact with the filter screen, filter out the less sweet-scented osmanthus of size from the filter screen, fall into its below collection device 9 downwards, all the other parts are the unable filter screen that passes through of the great branch and leaf of size, can follow direction slope 8h under the promotion of hob 8i and withdraw from finally by hob 8i ejecting device, realize the flower and leaf separation.
Claims (10)
1. The utility model provides a collection device is picked to multi-functional sweet-scented osmanthus based on five-axis manipulator, includes five-axis manipulator that can diversified multi-angle pivoted, five-axis manipulator end-to-end connection picking head (5), characterized by: the picking head (5) comprises a picking head shell (5m) and a sixth motor (5a) which is horizontally arranged, the upper end of the picking head shell (5m) is open, an output shaft of the sixth motor (5a) connected to the picking head shell (5m) is fixedly connected with a motor shaft belt wheel (5b) with the same axle center, the motor shaft belt wheel (5b) is connected with a rubber roller belt wheel (5c) through a first belt, a second belt is connected with a brush roller belt wheel (5d), a driving brush roller (5e) is sleeved with the brush roller belt wheel (5d) and a brush roller driving gear (5h), the brush roller driving gear (5h 0) is meshed with a brush roller driven gear (5g), the driven gear (5g) is sleeved on a driven brush roller (5f), the driving brush roller (5e) and the driven brush roller (5f) are arranged at the open position at the upper end of the picking head shell (5m) and at the same horizontal height, the rubber roller (5c) and the driving roller (5l) are sleeved with the belt wheel (5c) The rubber roller driving gear (5k) is meshed with the rubber roller driven gear (5i), the rubber roller driven gear (5i) is fixedly sleeved on the driven rubber roller (5j), and the driving rubber roller (5l) and the driven rubber roller (5j) are at the same horizontal height; the driving rubber roller (5l) and the driven rubber roller (5j) are arranged right below the driving brush roller (5e) and the driven brush roller (5f) and are parallel to each other; the lower end of the picking head shell (5m) is connected with a flower leaf separating device (8) below through a telescopic folding conduit (7), and a collecting device (9) is arranged below the flower leaf separating device (8).
2. The multifunctional sweet osmanthus picking and collecting device based on five-axis mechanical arm as claimed in claim 1, wherein: the flower and leaf separating device (8) is provided with a separating device shell, a horizontal screw rod (8i) is arranged in the separating device shell, an output shaft of a seventh motor (8b) connected to the separating device shell is coaxially connected with the screw rod (8i), and a filter screen which can enable sweet osmanthus to pass through and can not enable branches and leaves to pass through is arranged at the bottom of the separating device shell.
3. The multifunctional sweet osmanthus picking and collecting device based on the five-axis manipulator as claimed in claim 2, wherein: the upper end of separator casing be feed inlet (8f), feed inlet (8f) upper end is linked together with flexible folding hose (7) lower extreme, feed inlet (8f) lower extreme is in the one end top of hob (8i), hob (8i) other end is equipped with direction slope (8h) that the below slope that inclines to the below that is connected with separator casing (8g) down.
4. The multifunctional sweet osmanthus picking and collecting device based on the five-axis manipulator as claimed in claim 2, wherein the output shaft of the horizontally arranged seventh motor (8b) is coaxially and fixedly connected with the small belt wheel (8c) of the separating device, the small belt wheel (8c) of the separating device is connected with the large belt wheel (8d) of the separating device through a third belt, and the large belt wheel (8d) of the separating device is coaxially and fixedly connected with the screw rod (8 i).
5. The multifunctional sweet osmanthus picking and collecting device based on five-axis mechanical arm as claimed in claim 1, wherein: the five-axis manipulator is composed of a manipulator base (1), a first joint base (2), a first mechanical arm (3), a second mechanical arm (4) and a third mechanical arm (6) which are sequentially connected, wherein the middle of the upper surface of the manipulator base (1) is connected with the lower end of the first joint base (2), a first motor (1b) is vertically arranged to drive the first joint base (2) to rotate around a vertical central shaft of the manipulator base, the upper end of the first joint base (2) is connected with the head end of the first mechanical arm (3), a second motor (2b) connected with the head end of the first mechanical arm (3) drives the first mechanical arm (3) to rotate, the tail end of the first mechanical arm (3) is connected with the head end of the second mechanical arm (4), and the third motor (3b) connected with the head end of the second mechanical arm (4) drives the second mechanical arm (4) to rotate; the tail end of the second mechanical arm (4) is connected with the head end of a third mechanical arm (6), a fourth motor (4b) connected with the tail end of the second mechanical arm (4) drives the third mechanical arm (6) to rotate, and the tail end of the third mechanical arm (6) is connected with the picking head shell (5m) through a fifth motor (6a) and a coupler (5n) to drive the picking head (5) to rotate; the fifth motor (6a) is orthogonal to the first motor (1b) and the fourth motor (4b) in space, and the second motor (2b), the third motor (3b) and the fourth motor (4b) are horizontally arranged and are parallel to each other.
6. The multifunctional sweet osmanthus picking and collecting device based on five-axis mechanical arm as claimed in claim 5, wherein: manipulator base (1) including a base platform (1a), two round platforms about base platform (1a) has, by stand fixed connection between two round platforms, first motor (1b), the base turns to gear wheel (1c), the base turns to pinion (1d) between two round platforms, first motor 1b arranges perpendicularly, its output shaft makes progress coaxial fixed cup joint the base and turns to pinion 1d, the base turns to pinion (1d) and base and turns to gear wheel (1c) and mesh mutually, the base turns to the coaxial fixed cup joint base pivot (1f) of arranging perpendicularly of gear wheel (1c), base pivot (1f) are in the centre of base platform (1a), base carousel (1e) that its upper end coaxial fixed connection level was arranged, base carousel (1e) top fixed connection first joint base (2).
7. The multifunctional sweet osmanthus picking and collecting device based on five-axis mechanical arm as claimed in claim 5, wherein: the first mechanical arm (3) is composed of a first mechanical arm body (3a) and a third motor (3b), the head end of the first mechanical arm body (3a) is in an inverted U shape, two side walls of the inverted U shape are respectively provided with a horizontal through hole, one through hole on the side wall of the inverted U shape is connected with the second motor (2b) through a key (2c), the second motor (2b) is arranged in the inverted U shape, the other through hole on the side wall of the inverted U shape is connected with a cylindrical boss (2d) protruding from the upper end of the first joint base turntable (2a) through a deep groove ball bearing (3c), the central shaft of the cylindrical boss (2d) is collinear with the output shaft of the second motor (2b), and the second motor (2b) drives the first mechanical arm (3) to rotate around the output shaft of the second motor (2 b);
8. the multifunctional sweet osmanthus picking and collecting device based on five-axis mechanical arm as claimed in claim 7, wherein: the head end of the first mechanical arm body (3a) is U-shaped, two horizontal through holes are formed in two side walls of the U shape respectively, an output shaft of the third motor (3b) extends into one through hole in the U-shaped side wall and then is connected with a corresponding hole in the head end of the second mechanical arm body (4a) through a key (3d), the other through hole in the U-shaped side wall is connected with a small protruding cylindrical boss (4d) in the head end of the second mechanical arm body (4a), another deep groove ball bearing (3e) is arranged at the joint, and the third motor (3b) drives the second mechanical arm (4) to rotate around the output shaft of the third motor (3 b).
9. A picking method of the multifunctional sweet osmanthus picking and collecting device as claimed in claim 1, characterized by comprising the following steps:
the method comprises the following steps: the sixth motor (5a) is started, the driving brush roller (5e) and the driven brush roller (5f) synchronously rotate in the reverse direction, the five-axis mechanical arm is adjusted, the picking head (5) is adjusted to the position where sweet osmanthus is to be picked, so that the driving brush roller (5e) and the driven brush roller (5f) are right opposite to the sweet osmanthus and branches and leaves, and the sweet osmanthus and branches and leaves are wound between the driving brush roller and the driven brush roller;
step two: sweet osmanthus and branches and leaves are transferred to a driving rubber roller (5l) and a driven rubber roller (5j) right below, the branches and leaves are contacted and rolled with the driving rubber roller (5l) and the driven rubber roller (5j) which synchronously rotate in the reverse direction, the mixture of the sweet osmanthus and the branches and leaves falls into a picking head shell (5m), and then falls into a flower and leaf separating device (8) through a telescopic folding hose (7) downwards;
step three: the leaf separating device (8) pushes out the branches and leaves with larger body size through the rotation of a horizontal screw rod (8i) arranged in the leaf separating device, and the sweet osmanthus with smaller body size is filtered out from a filter screen at the bottom and then falls into a collecting device (9).
10. A harvesting method according to claim 9, wherein: in the second step, the steering directions of the rubber driving rubber roller (5l) and the rubber driven rubber roller (5j) are changed, the materials are returned upwards, and the steps of feeding, returning, re-feeding and re-returning are repeated in a circulating mode.
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| CN114938739B (en) | 2023-07-18 |
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Effective date of registration: 20240517 Address after: 230000 Room 203, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Hefei Jiuzhou Longteng scientific and technological achievement transformation Co.,Ltd. Country or region after: China Address before: Zhenjiang City, Jiangsu Province, 212013 Jingkou District Road No. 301 Patentee before: JIANGSU University Country or region before: China |