CN115250746A - Automatic chrysanthemum picking device and using method thereof - Google Patents
Automatic chrysanthemum picking device and using method thereof Download PDFInfo
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- CN115250746A CN115250746A CN202210940537.0A CN202210940537A CN115250746A CN 115250746 A CN115250746 A CN 115250746A CN 202210940537 A CN202210940537 A CN 202210940537A CN 115250746 A CN115250746 A CN 115250746A
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- 235000007516 Chrysanthemum Nutrition 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 12
- 244000189548 Chrysanthemum x morifolium Species 0.000 title 1
- 230000007246 mechanism Effects 0.000 claims abstract description 150
- 230000005540 biological transmission Effects 0.000 claims abstract description 76
- 241000723353 Chrysanthemum Species 0.000 claims abstract description 60
- 230000000007 visual effect Effects 0.000 claims abstract description 5
- 230000008878 coupling Effects 0.000 claims description 17
- 238000010168 coupling process Methods 0.000 claims description 17
- 238000005859 coupling reaction Methods 0.000 claims description 17
- 244000126211 Hericium coralloides Species 0.000 claims description 11
- 210000000078 claw Anatomy 0.000 claims description 8
- 241000196324 Embryophyta Species 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 7
- 239000003814 drug Substances 0.000 description 3
- 244000269722 Thea sinensis Species 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000017260 vegetative to reproductive phase transition of meristem Effects 0.000 description 2
- 241000208838 Asteraceae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001914 calming effect Effects 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 210000004185 liver Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 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
- A01D46/30—Robotic devices for individually picking crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
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Abstract
The invention relates to the technical field of chrysanthemum picking, in particular to an automatic chrysanthemum picking device and a using method thereof, wherein the picking device comprises a movable steering mechanism; the transmission positioning mechanism is arranged on the rack and comprises a heightening frame arranged on the rack, X-direction transmission positioning mechanisms arranged on two sides of the heightening frame, Y-direction transmission positioning mechanisms arranged on the X-direction transmission positioning mechanisms and Z-direction transmission positioning mechanisms arranged on the Y-direction transmission positioning mechanisms; and the paw picking mechanism is arranged on the Z-direction transmission positioning mechanism. The automatic chrysanthemum picking device has the advantages that the automatic chrysanthemum picking is realized in a visual identification or remote control mode, the production operation is safe and reliable, the whole mechanism is simple in structure, high in stability, strong in reliability and good in practicability, the automation degree of chrysanthemum picking is effectively improved, the labor intensity of picking personnel is reduced, the working efficiency is improved, and the picking cost is reduced.
Description
Technical Field
The invention relates to the technical field of chrysanthemum picking, in particular to an automatic chrysanthemum picking device and a using method thereof.
Background
Chrysanthemum is a commonly used traditional Chinese medicine and is a perennial root herb of Compositae and Chrysanthemum. Has the effects of dispelling wind, clearing heat, calming liver, improving eyesight, clearing heat, detoxifying and the like, can be drunk daily as tea, and is also a traditional Chinese medicine. The chrysanthemum which is used as both tea and medicine has rapid development in recent years, and the planting area is larger and larger. At present, chrysanthemum pickers which are basically manually picked or hand-held are high in picking cost and cause discomfort to picking personnel due to overlong picking time.
The existing picking machine is also full-automatic, is similar to a combine harvester, and removes the whole chrysanthemum, because the chrysanthemum has inconsistent flowering time and short flowering period, the chrysanthemum quality is influenced by untimely picking, and the chrysanthemum is only needed to be picked without removing the whole chrysanthemum. The labor cost for picking chrysanthemum becomes an important factor which seriously restricts the development of the chrysanthemum industry, so an intelligent chrysanthemum picking device is urgently needed. The manual work of simulation is picked the chrysanthemum, and the efficiency of broach is the highest, but current design is not practical, and the conveyer belt or the collector that most will collect the usefulness are arranged in below the broach, have hindered the broach and have picked the chrysanthemum.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic chrysanthemum picking device and a using method thereof.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
an automatic chrysanthemum picking device comprises:
the mobile steering mechanism is used for moving and steering and comprises a rack, a driving wheel arranged at the bottom of the rack and a steering mechanism arranged at the front end of the rack;
the transmission positioning mechanism is arranged on the rack and comprises a heightening frame arranged on the rack, X-direction transmission positioning mechanisms arranged on two sides of the heightening frame, Y-direction transmission positioning mechanisms arranged on the X-direction transmission positioning mechanisms and Z-direction transmission positioning mechanisms arranged on the Y-direction transmission positioning mechanisms;
and the paw picking mechanism is used for automatically picking chrysanthemum and is installed on the Z-direction transmission positioning mechanism.
As a further improvement of the invention, the steering mechanism comprises a rotating bottom plate arranged at the front end of the rack, a steering support connected with the rotating bottom plate through a first deep groove ball bearing, a supporting wheel arranged at the bottom of the steering support, and a bearing cover fixedly arranged on the rotating bottom plate through a fixing screw, wherein a steering engine is arranged on the rotating bottom plate, the steering engine is connected with a rocker, the rocker is connected with a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are connected with a steering block, and the steering block is connected with the steering support.
As a further improvement of the invention, the X-direction transmission positioning mechanism comprises a long lead screw guide rail base arranged on the heightening frame, a long lead screw arranged on the long lead screw guide rail base through a second deep groove ball bearing, and a long lead screw nut pair arranged on the long lead screw, one end of the long lead screw is connected with a long lead screw stepping motor through a long lead screw reducing elastic coupling, and the Y-direction transmission positioning mechanism is installed on the long lead screw nut pair.
As a further improvement of the present invention, the Y-direction transmission positioning mechanism includes a short lead screw guide rail base mounted on the long lead screw nut pair, a guide rail rod mounted inside the short lead screw guide rail base, a short lead screw mounted inside the short lead screw guide rail base through a third deep groove ball bearing, and a short lead screw nut pair correspondingly mounted on the guide rail rod and the short lead screw, the guide rail rod and the short lead screw are mounted in parallel, one end of the short lead screw is connected with a short lead screw stepping motor through a short lead screw reducing elastic coupling, and the Z-direction transmission positioning mechanism is mounted on the short lead screw nut pair.
As a further improvement of the invention, the Z-direction transmission positioning mechanism comprises a lifting screw guide rail base arranged on the short screw nut pair, a lifting screw arranged on the lifting screw guide rail base, and a lifting screw nut pair arranged on the lifting screw, wherein the upper end of the lifting screw is connected with a lifting screw stepping motor through a lifting screw reducing elastic coupling, and the paw picking mechanism is arranged on the lifting screw nut pair.
As a further improvement of the invention, the paw picking mechanism comprises a connecting frame arranged on the lifting screw nut pair, a paw support connected with the connecting frame through a mounting connecting plate, and a storage box arranged on the rack, wherein a paw opening and closing driving device is arranged on the connecting frame, a paw picking device is arranged on the paw support, and the paw picking device is connected with the paw opening and closing driving device.
As a further improvement of the invention, the paw opening and closing driving device comprises a paw opening and closing screw guide rail base arranged on the connecting frame, a paw opening and closing screw support, a paw opening and closing screw stepping motor arranged on the paw opening and closing screw guide rail base, and a paw opening and closing screw arranged on the paw opening and closing screw support, wherein the paw opening and closing screw stepping motor is connected with the paw opening and closing screw through a paw opening and closing screw reducing elastic coupling, a paw opening and closing screw nut pair is arranged on the paw opening and closing screw, and the paw picking device is connected with the paw opening and closing screw nut pair.
As a further improvement of the invention, the paw picking device comprises a rack connected with the paw opening and closing screw nut pair, a sector gear rocker arranged on the paw support through a first rotating shaft, a third connecting rod, and a comb tooth support connected with the sector gear rocker and the third connecting rod through a second rotating shaft, wherein comb teeth are arranged on the comb tooth support, two groups of sector gear rockers, the third connecting rod, the comb tooth support, the comb teeth, the first rotating shaft and the second rotating shaft are arranged and symmetrically distributed along the rack, and the sector gear rockers in the two groups are all meshed with the rack.
A method for using an automatic chrysanthemum picking device comprises the following steps:
the method comprises the following steps: the movable steering mechanism can be controlled to move in a visual identification or manual remote control mode, the movable steering mechanism enables the picking device to move back and forth through the driving wheel, and the moving direction of the picking device is adjusted through the steering engine to reach the position of the chrysanthemum needing to be picked;
step two: after the movable steering mechanism moves to the position of the chrysanthemum plant to be picked, the transmission positioning mechanism is utilized to move the paw picking mechanism to the position where the chrysanthemum can be picked;
step three: the X-direction transmission positioning mechanism enables the paw picking mechanism to move along the longitudinal direction, and the paw picking mechanism moves to the front picking position of the picking device;
step four: the Y-direction transmission positioning mechanism enables the paw picking mechanism to move along the transverse direction, and the paw picking mechanism moves right above the picked plant;
step five: starting a paw opening and closing screw rod stepping motor, driving a rack to move downwards, and opening the comb teeth through meshing the rack with a sector gear of a sector gear rocker;
step six: the Z-direction transmission positioning mechanism enables the paw picking mechanism to move downwards along the vertical direction to reach a proper picking position;
step seven: the claw opening and closing screw stepping motor is started again, the rack is driven to move upwards, and the rack is meshed with a sector gear of a sector gear rocker, so that comb teeth are closed, and chrysanthemum picking is realized;
step eight: the Z-direction transmission positioning mechanism enables the paw picking mechanism to move upwards;
step nine: the X-direction transmission positioning mechanism enables the paw picking mechanism to move longitudinally to the position above the rear end containing box;
step ten: and the claw opening and closing screw stepping motor is started again, the rack is driven to move downwards, the comb teeth are opened through the meshing of the rack and the sector gear of the sector gear rocker, the picked chrysanthemum is placed in the storage box, and then the step one is returned to for next cycle picking work.
The invention has the beneficial effects that:
the automatic chrysanthemum picking device has the advantages that the automatic chrysanthemum picking is realized in a visual identification or remote control mode, the production operation is safe and reliable, the whole mechanism is simple in structure, high in stability, strong in reliability and good in practicability, the automation degree of chrysanthemum picking is effectively improved, the labor intensity of picking personnel is reduced, the working efficiency is improved, and the picking cost is reduced.
Drawings
The invention is further illustrated with reference to the following figures and examples:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall structure of the present invention in the X direction;
FIG. 3 is a schematic view of the overall structure of the present invention in the Y direction;
FIG. 4 is a schematic view of the overall structure of the present invention in the Z direction;
FIG. 5 is a schematic view of the structure of the transmission positioning mechanism of the present invention;
FIG. 6 is a schematic structural view of the mobile steering mechanism of the present invention;
FIG. 7 is a schematic structural view of a steering mechanism according to the present invention;
FIG. 8 is a partial cross-sectional schematic view of the steering mechanism of the present invention;
FIG. 9 is a schematic structural view of an X-direction transmission positioning mechanism according to the present invention;
FIG. 10 is a schematic structural view of a Y-direction transmission positioning mechanism according to the present invention;
FIG. 11 is a schematic structural view of a Z-direction transmission positioning mechanism according to the present invention;
FIG. 12 is a schematic view of a gripper picking mechanism according to the present invention;
FIG. 13 is a schematic view of a partial cross-sectional view of a gripper picking mechanism according to the present invention;
fig. 14 is a schematic structural view of the gripper opening and closing driving device of the present invention.
In the figure:
1. a mobile steering mechanism; 1-1, driving wheels; 1-2, a frame; 1-3, a steering mechanism; 1-4, corner fittings; 1-5, supporting wheels; 1-6, a steering bracket; 1-7, rotating the bottom plate; 1-8, a steering engine; 1-9, a rocker; 1-10, a first connecting rod; 1-11, a second connecting rod; 1-12, a turning block; 1-13, a first deep groove ball bearing; 1-14, bearing cap; 1-15, fixing screws;
2. a transmission positioning mechanism;
2-1, driving and positioning mechanism in X direction; 2-2, heightening; 2-3, a Y-direction transmission positioning mechanism; 2-4, a Z-direction transmission positioning mechanism;
2-5, a long lead screw guide rail base; 2-6, long lead screw; 2-7, a second deep groove ball bearing; 2-8, a long lead screw nut pair; 2-9, a long screw reducing elastic coupling; 2-10, long lead screw stepping motor;
2-11, a short lead screw guide rail base; 2-12, a short lead screw nut pair; 2-13, guide rail rods; 2-14, short lead screw; 2-15, a third deep groove ball bearing; 2-16, a short screw rod reducing elastic coupling; 2-17, a short lead screw stepping motor;
2-18, a lifting lead screw guide rail base; 2-19, a lifting screw nut pair; 2-20, lifting screw rod; 2-21, a lifting screw reducing elastic coupling; 2-22, a lifting screw rod stepping motor;
3. a paw picking mechanism; 3-1, a paw opening and closing driving device; 3-2, a paw support; 3-3, a sector gear rocker; 3-4, a third connecting rod; 3-5, a rack; 3-6, a storage box; 3-7, comb tooth supports; 3-8, comb teeth;
3-9, opening and closing a lead screw guide rail base by a paw; 3-10, opening and closing a screw rod by a paw; 3-11, opening and closing a screw nut pair by a paw; 3-12, mounting a connecting plate; 3-13, opening and closing the screw rod bracket by a paw; 3-14, opening and closing the claw to form the screw reducing elastic coupling; 3-15, a claw opening and closing lead screw stepping motor; 3-16, a connecting frame; 3-17, a first rotating shaft; 3-18 and a second rotating shaft.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is further explained in the following with the accompanying drawings and the embodiments.
As shown in fig. 1 to 14, an automatic chrysanthemum picking device mainly comprises a mobile steering mechanism 1, a transmission positioning mechanism 2 and a paw picking mechanism 3. The mobile steering mechanism 1 is used for controlling the movement and steering of the device; the transmission positioning mechanism 2 is arranged on the mobile steering mechanism 1 and is used for realizing the positioning of the paw picking mechanism 3; the paw picking mechanism 3 is arranged on the transmission positioning mechanism 2, so that the paw can be opened and closed, and chrysanthemum picking is completed.
Specifically, the movable steering mechanism 1 comprises a frame 1-2, two driving wheels 1-1 arranged at the bottom of the frame 1-2 through corner pieces 1-4, two driving wheels 1-1 used for driving the whole picking device to move, a steering mechanism 1-3 arranged at the front end of the frame 1-2, and the steering mechanism 1-3 used for steering the whole picking device.
Furthermore, the steering mechanism 1-3 is composed of two supporting wheels 1-5, two steering supports 1-6, a rotating bottom plate 1-7, a steering engine 1-8, a rocker 1-9, a first connecting rod 1-10, a second connecting rod 1-11, two steering blocks 1-12, two first deep groove ball bearings 1-13, bearing covers 1-14 and fixing screws 1-15. The steering mechanism is characterized in that the rotating bottom plate 1-7 is installed at the front end of the rack 1-2, two first deep groove ball bearings 1-13 are installed in the rotating bottom plate 1-7, the bearing covers 1-14 are installed on the rotating bottom plate 1-7 through fixing screws 1-15, two steering supports 1-6 are installed at the bottom of the rotating bottom plate 1-7 through two first deep groove ball bearings 1-13, two supporting wheels 1-5 are correspondingly arranged at the bottoms of the steering supports 1-6, the two supporting wheels 1-5 can rotate, the steering engine 1-8 is installed on the rotating bottom plate 1-7, an output shaft of the steering engine 1-8 is connected with the rocking rod 1-9, the rocking rod 1-9 is connected with the two steering blocks 1-12 through a first connecting rod 1-10 and a second connecting rod 1-11, the two steering blocks 1-12 are connected with the two steering supports 1-6, and when the steering engine 1-8 changes the angles of the steering blocks 1-12 through the rocking rod 1-9, the angles of the two supporting wheels 1-5 are changed synchronously.
The transmission positioning mechanism 2 mainly comprises a heightening frame 2-2, an X-direction transmission positioning mechanism 2-1, a Y-direction transmission positioning mechanism 2-3 and a Z-direction transmission positioning mechanism 2-4. The height increasing frame 2-2 is fixedly installed on the rack 1-2, two groups of X-direction transmission positioning mechanisms 2-1 are arranged and symmetrically distributed on the left side and the right side of the height increasing frame 2-2, the Y-direction transmission positioning mechanisms 2-3 are transversely installed on the two groups of X-direction transmission positioning mechanisms 2-1, and the Z-direction transmission positioning mechanisms 2-4 are vertically installed on the Y-direction transmission positioning mechanisms 2-3.
Furthermore, the two groups of X-direction transmission positioning mechanisms 2-1 are respectively composed of a long lead screw guide rail base 2-5, a long lead screw 2-6, a second deep groove ball bearing 2-7, a long lead screw nut pair 2-8, a long lead screw reducing elastic coupling 2-9 and a long lead screw stepping motor 2-10. The long lead screw guide rail base 2-5 is fixedly installed on the heightening frame 2-2, the long lead screw 2-6 is fixedly installed on the long lead screw guide rail base 2-5 through a second deep groove ball bearing 2-7 at two ends, the long lead screw 2-6 and the long lead screw guide rail base 2-5 are distributed in parallel, the long lead screw nut pair 2-8 is installed on the long lead screw 2-6 and located in the middle of the long lead screw 2-6, the Y-direction transmission positioning mechanism 2-3 is correspondingly installed on two long lead screw nut pairs 2-8 in two groups of X-direction transmission positioning mechanisms 2-1, and the rear end of the long lead screw 2-6 is coaxially connected with the long lead screw stepping motor 2-10 through the long lead screw reducing elastic coupler 2-9.
Furthermore, the Y-direction transmission positioning mechanism 2-3 is composed of a short lead screw guide rail base 2-11, a short lead screw nut pair 2-12, a guide rail rod 2-13, a short lead screw 2-14, a third deep groove ball bearing 2-15, a short lead screw reducing elastic coupling 2-16 and a short lead screw stepping motor 2-17. The two ends of the short lead screw guide rail bases 2-11 are fixedly mounted on two long lead screw nut pairs 2-8 in two groups of X-direction transmission positioning mechanisms 2-1, the short lead screws 2-14 are mounted in the short lead screw guide rail bases 2-11 through three deep groove ball bearings 2-15 at the two ends, two guide rail rods 2-13 are arranged and mounted in the short lead screw guide rail bases 2-11 in parallel with the short lead screws 2-14, the short lead screw nut pairs 2-12 are correspondingly mounted on the two guide rail rods 2-13 and the short lead screws 2-14, the Z-direction transmission positioning mechanisms 2-4 are vertically mounted on the short lead screw nut pairs 2-12, and the left ends of the short lead screws 2-14 are coaxially connected with the short lead screw stepping motors 2-17 through the short lead screw reducing elastic couplings 2-16.
Furthermore, the Z-direction transmission positioning mechanism 2-4 is composed of a lifting lead screw guide rail base 2-18, a lifting lead screw nut pair 2-19, a lifting lead screw 2-20, a lifting lead screw reducing elastic coupling 2-21 and a lifting lead screw stepping motor 2-22. The lifting screw guide rail bases 2-18 are vertically arranged on the short screw nut pairs 2-12, the lifting screws 2-20 are vertically arranged on the lifting screw guide rail bases 2-18, the lifting screw nut pairs 2-19 are arranged on the lifting screws 2-20, the upper ends of the lifting screws 2-20 are coaxially connected with the lifting screw stepping motors 2-22 through lifting screw reducing elastic couplings 2-21, and the paw picking mechanism 3 is arranged on the lifting screw nut pairs 2-19.
Specifically, the paw picking mechanism 3 comprises a connecting frame 3-16 arranged on the lifting screw nut pair 2-19, a paw support 3-2 connected with the connecting frame 3-16 through a mounting connecting plate 3-12, and a storage box 3-6 arranged on the rack 1-2, wherein a paw opening and closing driving device 3-1 is arranged on the connecting frame 3-16, a paw picking device is arranged on the paw support 3-2, and the paw picking device is connected with the paw opening and closing driving device 3-1.
Furthermore, the paw opening and closing driving device 3-1 is composed of a paw opening and closing lead screw guide rail base 3-9, a paw opening and closing lead screw 3-10, a paw opening and closing lead screw nut pair 3-11, a paw opening and closing lead screw support 3-13, a paw opening and closing lead screw reducing elastic coupling 3-14 and a paw opening and closing lead screw stepping motor 3-15. The gripper opening and closing screw guide rail base is provided with 3-9 parts, the gripper opening and closing screw support is provided with 3-13 parts, 3-16 parts, 3-15 parts, 3-10 parts, 3-13 parts, 3-15 parts, 3-10 parts, 3-11 parts, and the gripper opening and closing screw picking device is connected with 3-11 parts.
Furthermore, the paw picking device comprises 3-3 parts of a sector gear rocker, 3-4 parts of a third connecting rod, 3-5 parts of a rack, 3-7 parts of a comb support, 3-8 parts of comb teeth, 3-17 parts of a first rotating shaft and 3-18 parts of a second rotating shaft. The rack 3-5 is fixedly arranged on the paw clasp screw nut pair 3-11, two groups of sector gear rockers 3-3, three connecting rods 3-4, comb tooth supports 3-7, comb teeth 3-8, a first rotating shaft 3-17 and a second rotating shaft 3-18 are arranged, the racks 3-5 are symmetrically distributed, the sector gear rockers 3-3 are meshed with the racks 3-5, the sector gear rockers 3-3 and the third connecting rods 3-4 are arranged on the paw supports 3-2 through the first rotating shafts 3-17, the comb tooth supports 3-7 are connected with the sector gear rockers 3-3 and the third connecting rods 3-4 through the second rotating shafts 3-18, a plurality of comb teeth 3-8 are correspondingly arranged on the comb tooth supports 3-7, the sector gear rockers 3-3 are driven to rotate clockwise and anticlockwise through the up-down movement of the racks 3-7, and the comb teeth 3-8 on the two comb tooth supports 3-7 are driven to open and close to realize the picking of chrysanthemum.
A use method of an automatic chrysanthemum picking device comprises the following specific steps:
the method comprises the following steps: the movable steering mechanism 1 can be controlled to move in a visual identification or manual remote control mode, the movable steering mechanism 1 enables the picking device to move back and forth through the driving wheels 1-1, and the moving direction of the picking device is adjusted through the steering engines 1-8 to reach the position of the chrysanthemum to be picked.
Step two: after the movable steering mechanism 1 is moved to the position of the chrysanthemum plant to be picked, the paw picking mechanism 3 is moved by the transmission positioning mechanism 2 to reach the position where the chrysanthemum can be picked.
Step three: the X-direction transmission positioning mechanism 2-1 enables the paw picking mechanism 3 to move along the longitudinal direction, and the paw picking mechanism 3 moves to the front picking position of the picking device.
Step four: the Y-direction transmission positioning mechanism 2-3 enables the paw picking mechanism 3 to move along the transverse direction, and the paw picking mechanism 3 moves to the position right above the picked plant.
Step five: and starting a claw opening and closing screw stepping motor 3-15 to drive a rack 3-5 to move downwards, and opening the comb teeth 3-8 by meshing the rack 3-5 with a sector gear of a sector gear rocker 3-3.
Step six: the Z-direction transmission positioning mechanism 2-4 enables the paw picking mechanism 3 to move downwards along the vertical direction to reach a proper picking position.
Step seven: and starting the claw opening and closing screw stepping motor 3-15 again to drive the rack 3-5 to move upwards, and meshing the rack 3-5 with the sector gear of the sector gear rocker 3-3 to close the comb teeth 3-8 to realize chrysanthemum picking.
Step eight: the Z-direction transmission positioning mechanism 2-4 enables the paw picking mechanism 3 to move upwards.
Step nine: the X-direction transmission positioning mechanism 2-1 enables the paw picking mechanism 3 to move longitudinally to the position above the rear end containing box 3-6.
Step ten: and (3) starting the claw opening and closing screw stepping motor 3-15 again, driving the rack 3-5 to move downwards, meshing the rack 3-5 with the sector gear of the sector gear rocker 3-3 to open the comb teeth 3-8, placing the collected chrysanthemum in the storage box 3-6, and returning to the first step to carry out the next circular picking work.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an automatic device of picking of chrysanthemum which characterized in that: the method comprises the following steps:
the movable steering mechanism (1) is used for moving and steering, and the movable steering mechanism (1) comprises a rack (1-2), a driving wheel (1-1) arranged at the bottom of the rack (1-2) and a steering mechanism (1-3) arranged at the front end of the rack (1-2);
the transmission positioning mechanism (2) is arranged on the rack (1-2), and the transmission positioning mechanism (2) comprises a heightening frame (2-2) arranged on the rack (1-2), X-direction transmission positioning mechanisms (2-1) arranged on two sides of the heightening frame (2-2), a Y-direction transmission positioning mechanism (2-3) arranged on the X-direction transmission positioning mechanism (2-1), and a Z-direction transmission positioning mechanism (2-4) arranged on the Y-direction transmission positioning mechanism (2-3);
the mechanical picking device comprises a paw picking mechanism (3), the paw picking mechanism (3) is used for automatically picking chrysanthemum, and the paw picking mechanism (3) is arranged on the Z-direction transmission positioning mechanism (2-4).
2. The automatic chrysanthemum picking device according to claim 1, characterized in that: the steering mechanism (1-3) comprises a rotating bottom plate (1-7) arranged at the front end of the rack (1-2), a steering support (1-6) connected with the rotating bottom plate (1-7) through a first deep groove ball bearing (1-13), supporting wheels (1-5) arranged at the bottom of the steering support (1-6), and bearing covers (1-14) fixedly arranged on the rotating bottom plate (1-7) through fixing screws (1-15), steering engines (1-8) are arranged on the rotating bottom plate (1-7), the steering engines (1-8) are connected with rockers (1-9), the rockers (1-9) are connected with a first connecting rod (1-10) and a second connecting rod (1-11), the first connecting rod (1-10) and the second connecting rod (1-11) are connected with steering blocks (1-12), and the steering blocks (1-12) are connected with the steering support (1-6).
3. The automatic chrysanthemum picking device according to claim 1, characterized in that: the X-direction transmission positioning mechanism (2-1) comprises a long lead screw guide rail base (2-5) arranged on the heightening frame (2-2), a long lead screw (2-6) arranged on the long lead screw guide rail base (2-5) through a second deep groove ball bearing (2-7), and a long lead screw nut pair (2-8) arranged on the long lead screw (2-6), wherein one end of the long lead screw (2-6) is connected with a long lead screw stepping motor (2-10) through a long lead screw reducing elastic coupling (2-9), and the Y-direction transmission positioning mechanism (2-3) is arranged on the long lead screw nut pair (2-8).
4. The automatic chrysanthemum picking device according to claim 3, characterized in that: y direction transmission positioning mechanism (2-3) including install short lead screw guide rail base (2-11) on long lead screw nut pair (2-8), install guide rail pole (2-13) inside short lead screw guide rail base (2-11), install through No. three deep groove ball bearings (2-15) short lead screw (2-14) inside short lead screw guide rail base (2-11), correspond and install guide rail pole (2-13), short lead screw nut pair (2-12) on short lead screw (2-14), guide rail pole (2-13), short lead screw (2-14) parallel mount, the one end of short lead screw (2-14) is connected with short lead screw step motor (2-17) through short lead screw reducing elastic coupling (2-16), Z direction transmission positioning mechanism (2-4) are installed on short lead screw nut pair (2-12).
5. The automatic chrysanthemum picking device according to claim 4, characterized in that: the Z-direction transmission positioning mechanism (2-4) comprises a lifting screw guide rail base (2-18) arranged on the short screw nut pair (2-12), a lifting screw (2-20) arranged on the lifting screw guide rail base (2-18) and a lifting screw nut pair (2-19) arranged on the lifting screw (2-20), the upper end of the lifting screw (2-20) is connected with a lifting screw stepping motor (2-22) through a lifting screw reducing elastic coupler (2-21), and the paw picking mechanism (3) is arranged on the lifting screw nut pair (2-19).
6. The automatic chrysanthemum picking device according to claim 5, characterized in that: the paw picking mechanism (3) comprises a connecting frame (3-16) arranged on the lifting screw nut pair (2-19), a paw support (3-2) connected with the connecting frame (3-16) through a mounting connecting plate (3-12), and a storage box (3-6) arranged on the rack (1-2), wherein a paw opening and closing driving device (3-1) is arranged on the connecting frame (3-16), a paw picking device is arranged on the paw support (3-2), and the paw picking device is connected with the paw opening and closing driving device (3-1).
7. The automatic chrysanthemum picking device according to claim 6, wherein: the gripper opening and closing driving device (3-1) comprises gripper opening and closing lead screw guide rail bases (3-9) arranged on the connecting frames (3-16), gripper opening and closing lead screw supports (3-13), gripper opening and closing lead screw stepping motors (3-15) installed on the gripper opening and closing lead screw guide rail bases (3-9), and gripper opening and closing lead screws (3-10) installed on the gripper opening and closing lead screw supports (3-13), wherein the gripper opening and closing lead screw stepping motors (3-15) are connected with the gripper opening and closing lead screws (3-10) through gripper opening and closing lead screw reducing elastic couplings (3-14), gripper opening and closing lead screw nut pairs (3-11) are installed on the gripper opening and closing lead screws (3-10), and the gripper picking device is connected with the gripper opening and closing lead screw nut pairs (3-11).
8. The automatic chrysanthemum picking device according to claim 7, wherein: the paw picking device comprises racks (3-5) connected with paw opening and closing screw nut pairs (3-11), sector gear rockers (3-3) and third connecting rods (3-4) which are installed on paw supports (3-2) through first rotating shafts (3-17), and comb tooth supports (3-7) connected with the sector gear rockers (3-3) and the third connecting rods (3-4) through second rotating shafts (3-18), wherein comb teeth (3-8) are installed on the comb tooth supports (3-7).
9. The automatic chrysanthemum picking device according to claim 8, wherein: the fan-shaped gear rockers (3-3), the third connecting rods (3-4), the comb tooth supports (3-7), the comb teeth (3-8), the first rotating shafts (3-17) and the second rotating shafts (3-18) are arranged in two groups and are symmetrically distributed along the racks (3-5), and the fan-shaped gear rockers (3-3) in the two groups are all meshed with the racks (3-5).
10. The use method of the automatic chrysanthemum picking device is characterized in that: the automatic chrysanthemum picking device according to any one of claims 1 to 9 is used, and comprises the following specific steps:
the method comprises the following steps: the movable steering mechanism (1) can be controlled to move in a visual identification or manual remote control mode, the movable steering mechanism (1) enables the picking device to move back and forth through the driving wheels (1-1), and the moving direction of the picking device is adjusted through the steering engine (1-8) to reach the position of a chrysanthemum to be picked;
step two: after the movable steering mechanism (1) is moved to the position of the chrysanthemum plant to be picked, the paw picking mechanism (3) is moved by the transmission positioning mechanism (2) to reach the position where the chrysanthemum can be picked;
step three: the X-direction transmission positioning mechanism (2-1) enables the paw picking mechanism (3) to move along the longitudinal direction, and the paw picking mechanism (3) moves to the front picking position of the picking device;
step four: the Y-direction transmission positioning mechanism (2-3) enables the paw picking mechanism (3) to move along the transverse direction, and the paw picking mechanism (3) moves right above the picked plant;
step five: starting a paw opening and closing screw stepping motor (3-15), driving a rack (3-5) to move downwards, and opening the comb teeth (3-8) by meshing the rack (3-5) with a sector gear of a sector gear rocker (3-3);
step six: the Z-direction transmission positioning mechanism (2-4) enables the paw picking mechanism (3) to move downwards along the vertical direction to reach a proper picking position;
step seven: starting the paw opening and closing screw stepping motor (3-15) again, driving the rack (3-5) to move upwards, and enabling the comb teeth (3-8) to be closed through the engagement of the rack (3-5) and the sector gear of the sector gear rocker (3-3) to realize chrysanthemum picking;
step eight: the Z-direction transmission positioning mechanism (2-4) enables the paw picking mechanism (3) to move upwards;
step nine: the X-direction transmission positioning mechanism (2-1) enables the paw picking mechanism (3) to move longitudinally to the position above the rear end containing box (3-6);
step ten: and (3) starting the claw opening and closing screw rod stepping motor (3-15) again, driving the rack (3-5) to move downwards, engaging the rack (3-5) with a sector gear of the sector gear rocker (3-3) to open the comb teeth (3-8), placing the picked chrysanthemum in a storage box (3-6), and returning to the first step to carry out the next cycle picking work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210940537.0A CN115250746A (en) | 2022-08-06 | 2022-08-06 | Automatic chrysanthemum picking device and using method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210940537.0A CN115250746A (en) | 2022-08-06 | 2022-08-06 | Automatic chrysanthemum picking device and using method thereof |
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| CN202210940537.0A Pending CN115250746A (en) | 2022-08-06 | 2022-08-06 | Automatic chrysanthemum picking device and using method thereof |
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