CN204907165U - Electronic intelligent green vegetable harvester - Google Patents
Electronic intelligent green vegetable harvester Download PDFInfo
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- CN204907165U CN204907165U CN201520542636.9U CN201520542636U CN204907165U CN 204907165 U CN204907165 U CN 204907165U CN 201520542636 U CN201520542636 U CN 201520542636U CN 204907165 U CN204907165 U CN 204907165U
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- motor
- conveyer belt
- green vegetable
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- mechanical hand
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Abstract
The utility model relates to an electronic intelligent green vegetable harvester belongs to agricultural harvesting machine technical field. This machine frame supporting's the upper and lower collars of taking winds the conveyer belt, takes the front end of roller to be equipped with the cutting mechanism who protracts down, and fixed mounting's camera is located the hypomere top of conveyer belt on the frame, and the frame still is equipped with the mechanical hand assembly that is located the grudging post back upper place, the transverse guide of mechanical hand assembly stretches over the conveyer belt and constitutes with horizontal motor drive lateral shifting's roll -over stand and moves vicely, is equipped with upset motor drive on the roll -over stand and can retrieves around the dustpan form that is on a parallel with the upset of transverse guide horizontal axis and fight, and the transverse guide rear side is equipped with the output tape that stretches over the conveyer belt, the signal output part of camera connects the controlled end of elevator motor, horizontal motor, upset motor respectively through the control circuit who contains intelligent unit. The utility model discloses can empty withered and yellow miscellaneous leaf and export on the output tape to realize the automatic of withered and yellow miscellaneous leaf and reject, improve the operating efficiency, guarantee the results quality.
Description
Technical field
The utility model relates to a kind of vegetable harvester, and especially a kind of electric intelligent green vegetable reaping machine, belongs to technical field of agricultural harvesting.
Background technology
Along with the progress of science and technology, the mechanized harvest of vegetables is widely applied.The typical structure of this type of harvest machinery is application number 201410281685.1, disclosed in the Chinese patent application of title " the orderly reaping machine of a kind of vegetables ".This machine comprises and is placed in winding lace conveying device low early and high after on road wheel, the cutting mechanism protracted is equipped with in the front end of described conveying plant, this machine due to cutting mechanism can quick change, therefore the upper cutting of soil, results unrooted vegetables can both have been realized, also the lower cutting of soil, results band root vegetables can be realized, and make its ordered arrangement, have marked improvement than known technology before.But in the vegetables of results, unavoidable ginseng has withered and yellow assorted leaf, therefore needs the later stage manually to reject.
Summary of the invention
Of the present utility model want be: for above-mentioned Problems existing, propose a kind of can identify withered and yellow assorted leaf in results process after the electric intelligent green vegetable reaping machine of automatically being rejected, thus improve operating efficiency and results quality.
For achieving the above object, applicant is by conventional images identification, color detection (be 201010242703.7 Chinese patent literatures etc. that are called " a kind of image-recognizing method of plant leaf blade " see application number) and mechanical hand control technology are rationally applied to vegetable harvester, and on original vegetable harvester, innovated practicable executing agency, thus propose the basic technical scheme of the utility model electric intelligent green vegetable reaping machine: comprise and be placed in vehicle frame (9) low early and high after on road wheel, it is upper that described vehicle frame supports, lower band roller (18, 58) around conveyer belt (10), the cutting mechanism (39) protracted is equipped with in the front end of described lower band roller, it is characterized in that: described vehicle frame is fixed with the stand (5) of installing camera (6), described camera is positioned at above the hypomere of conveyer belt, and described vehicle frame is also equipped with the mechanical hand assembly (13) being positioned at stand back upper place, described mechanical hand assembly contains the cross slide way (5-2) that lifting motor (5-1) drives lifting, described cross slide way is across conveyer belt and drive the rollover stand (30) of transverse shifting to form moving sets with cross motor (5-3), described rollover stand is equipped with upset motor (29) to drive and can reclaim bucket (25) around the dustpan shape being parallel to the upset of cross slide way trunnion axis, the output band (23) across conveyer belt is housed on rear side of described cross slide way, the signal output part of described camera connects the signal input part containing intelligent cell control circuit, and the control output end of described control circuit connects the controlled end of lifting motor, cross motor, upset motor respectively.
During work, harvested vegetables along in conveyer belt from low to high course of conveying, after the vegetables image input control circuit of camera picked-up, intelligent cell tells withered and yellow assorted leaf color and after concluding its position, export corresponding control signal, by the recovery bucket opening transverse shift of cross motor and lifting motor drive machines hand assembly facing to after withered and yellow assorted leaf, be down to conveyor belt surface, after being with withered and yellow assorted leaf to enter recovery bucket, about 180 ° are overturn under upset motor drives, withered and yellow assorted leaf is brought down to output, with exporting the side be with and outputted to conveyer belt, thus realize the automatic rejection of withered and yellow assorted leaf, improve operating efficiency, ensure results quality.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the utility model is further described.
Fig. 1 is the structural representation of the utility model embodiment.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is the C-C cutaway view of Fig. 1.
Fig. 4 is the A-A cutaway view of Fig. 2.
Fig. 5 is the D-D cutaway view of Fig. 2.
Fig. 6 is the control circuit figure of Fig. 1 embodiment.
Embodiment
Embodiment one
The withered and yellow assorted leaf that the electric intelligent green vegetable reaping machine of the present embodiment is gathered in the crops mainly for Xiaoqinling Nature Reserve, spinach, leek etc. is rejected, and realizes the green vegetable results of high-quality.As depicted in figs. 1 and 2, low early and high after vehicle frame 9 is placed on forward and backward road wheel 14,24 its basic structure, and the upper and lower band roller 18,58 that vehicle frame 9 supports is around conveyer belt 10, and the cutting mechanism 39 protracted is equipped with in the front end of lower band roller 58.Cutting mechanism 39 is connected with conveyer belt 10 by soil shaking body 50.Safety protective railing 1 is equipped with in the front end of cutting mechanism 39.
The concrete structure of cutting mechanism 39 is see Fig. 3 and Fig. 5, be supported on connect cutting motor 2 on grillage 40 by output shaft 41 down with there are two angles, the 180 ° of upper and lower eccentric eccentric shafts 49 that misplace be in transmission connection, the upper and lower eccentric wheel of this eccentric shaft has respectively by the upper and lower connecting rod 48,47 of level the upper and lower cutter 43,44 that cutter tooth is close together respectively handle of a knife with front end is hinged, upper and lower cutter 43,44 forms the moving sets of horizontal direction with corresponding tool magazine respectively, thus form respectively in fact heterodromous upper and lower slider-crank mechanism.When cutting motor rotates, driving upper and lower cutter to do the reciprocal shearing motion of similar razor by by having two eccentric camshafts respectively by upper and lower slider-crank mechanism, in complete machine moves ahead process, completing the harvesting of vegetables.
The rear end of cutting mechanism 39 is connected with soil shaking body 50 by guided plate 60.Soil shaking body 50 is see Fig. 4 and Fig. 5, the horizontal output shaft of vibrating motor 37 has angle and to misplace the left side of 180 °, right eccentric wheel, wherein to be fixed on the approach end of the left swing bar 55 of balance staff 59 hinged for left eccentric wheel and far-end, the approach end that right eccentric wheel and far-end are fixed on the right fork 55 ' of pendulum axle sleeve 61 is hinged, on balance staff 59, axially spaced-apart is distributed with and trembles native bar 57 towards radial a group of extending of throughput direction, pendulum axle sleeve 61 kink is on balance staff 59, axially spaced-apart is distributed with the one group of hack bar 57 ' extended towards throughput direction radial direction, and have between adjacent hack bar tremble native bar perforation, therefore form by the soil shaking body trembling native bar 57 and the distribution of hack bar 57 ' alternate intervals.When vibrating motor operates, by the crank and rocker mechanism formed by left and right fork by left and right eccentric wheel, native bar 57 and the reverse upper and lower reciprocal shake of hack bar 57 ' are trembled in drive, thus by vegetables with soil shake off, thus while raising vegetables results product phase, prevent hack from knowing image and cause unnecessary interference, kill two birds with one stone.
Vehicle frame 9 is fixed with across in conveyer belt 10 both sides for installing the stand 5 of camera 6.Camera 6 is positioned at above the hypomere of conveyer belt.Vehicle frame 9 is also equipped with the mechanical hand assembly 13 being positioned at stand 5 back upper place by the supporting seat 12 of conveyer belt 10 both sides.The driving motor 16 that upper band roller 18 and the battery 17 of conveyer belt 10 are powered is in transmission connection by decelerator 19, and the below of its output is provided with collecting box 20.
Mechanical hand assembly 13 drives the cross slide way 5-2 of lifting by elevating screw nut body containing lifting motor 5-1, cross slide way 5-2 is across conveyer belt 10 and drive the rollover stand 30 of transverse shifting (in figure, Y-coordinate is pointed to) to form moving sets with cross motor 5-3 by cross lead screw nut mechanism.The overhanging end of rollover stand 30 is equipped with upset motor 29 to drive and can reclaim bucket 25 around the dustpan shape of the trunnion axis upset being parallel to cross slide way 5-2.Be equipped with on rear side of cross slide way 5-2 and export band 23 across the winding supreme at conveyer belt 10.Lay below the output of this output band and collect yellow leaf case 24.Reclaim bucket 25 and there is the access position forward of opening shown in solid line in Fig. 2, and after trunnion axis upset about 180 °, the dump position overturn backwards as shown in Fig. 2 chain lines.Thus, reclaim bucket 25 and there is short transverse (Z-direction), laterally (Y-direction) displacement, and around the multidimensional degree of freedom that trunnion axis overturns, thus after completing controlled displacement access vegetables as required, its turnover is poured into the mechanical hand action exported on band 23.In order to mate with the quick conveying of vegetables, the longitudinal rail that mechanical hand assembly 13 is consistent with conveyer belt 10 throughput direction and longitudinal leading screw and nut mechanism that longitudinal motor 4 drives, lifting motor 5-1 and elevating screw nut body are positioned at and form on the base of moving sets with longitudinal rail, therefore the degree of freedom making the recovery bucket 25 of mechanical hand assembly 13 also have controlled longitudinal direction (in figure X-coordinate point to) to be shifted, operationally more can move to desired location to flexibility and reliability.
The signal output part institute connection control circuit of camera 6 is arranged in control cabinet 34, basic comprising as shown in Figure 6, forms containing Intelligent Single-Chip Based chip D-3, clock circuit D-1, reset circuit D-9, mu balanced circuit D-11, serial communication circuit D-10 and stepper motor interface D-5, drive motors interface D-8, limit switch interface D-6.Wherein, Intelligent Single-Chip Based chip D-3(MAX232) connect and compose intelligent cell with the calculator with leaf image recognition function by serial communication, the discernible signal that its signal input part is become by level conversion after receiving the picture signal of camera 6.The control output end of Intelligent Single-Chip Based chip D-3 connects the controlled end of upset motor, longitudinal motor, lifting motor, cross motor respectively by stepper motor interface D-5 and drive motors interface D-8, thus control on demand walk that corresponding motor drive actuator completes Huang Ye pick out action.Mu balanced circuit D-11 in this control circuit is used for the 24V voltage drop inputted by external power source interface D-7 being low to moderate 5V and powers to other circuit parts such as Intelligent Single-Chip Based chip D-3 after mu balanced circuit D-11, clock circuit D-1 is used for providing clock foundation stone, guarantees that the operational module such as follow-up serial communication, pulse output normally works.
During work, cutting motor drives cutting mechanism to carry out carpet type cutting to leaf vegetables, the leaf vegetables of results goes to reach conveyer belt after soil through soil shaking body, through camera, its picture signal is sent to the control circuit of control cabinet, identify Huang Yehou, motor pulses signal is sent to each drive motors of mechanical hand assembly by control circuit according to Huang Ye position, make recovery bucket aim at yellow leaf in X, Y, Z-direction displacement as required; After yellow leaf enters recovery bucket, upset motor reclaims bucket and rotates 180 backward
0, yellow leaf is poured over output and brings output to pick out.Green vegetable then through conveyer belt drop to the collecting box of terminal.
Test proves, the present embodiment compared with prior art, has following remarkable advantage:
1. reliably can pick out by automatic leaf that the Huang identified is mixed, thus realize the vegetables results of high-quality;
2. artificial to the yellow leaf classification of dish leaf after saving results, significantly reduce labour intensity;
3. strong adaptability, can solve green vegetable general character results problem, can be applicable to the results of the leaf vegetables such as such as Xiaoqinling Nature Reserve, spinach, leek;
4.220V general-purpose interface and chargeable pure electric-powered source, reliable operation, pollution-free;
5. portable construction, meets and gently simplifies operation or work standard, is applicable to green house operation;
The image procossing intelligent cell recognition function that single-chip microcomputer and calculator are formed is powerful, and configuration is convenient, reliable operation.
Claims (6)
1. an electric intelligent green vegetable reaping machine, comprise and be placed in vehicle frame (9) low early and high after on road wheel, the upper and lower band roller (18,58) that described vehicle frame supports is around conveyer belt (10), and the cutting mechanism (39) protracted is equipped with in the front end of described lower band roller; It is characterized in that: described vehicle frame is fixed with the stand (5) of installing camera (6), described camera is positioned at above the hypomere of conveyer belt, and described vehicle frame is also equipped with the mechanical hand assembly (13) being positioned at stand back upper place; Described mechanical hand assembly contains the cross slide way (5-2) that lifting motor (5-1) drives lifting, described cross slide way is across conveyer belt and drive the rollover stand (30) of transverse shifting to form moving sets with cross motor (5-3), described rollover stand is equipped with upset motor (29) to drive and can reclaim bucket (25) around the dustpan shape being parallel to the upset of cross slide way trunnion axis, the output band (23) across conveyer belt is housed on rear side of described cross slide way; The signal output part of described camera connects the signal input part containing intelligent cell control circuit, and the control output end of described control circuit connects the controlled end of lifting motor, cross motor, upset motor respectively.
2. electric intelligent green vegetable reaping machine according to claim 1, it is characterized in that: described cutting mechanism is connected with conveyer belt by soil shaking body, described soil shaking body contains the vibrating motor as power source, the horizontal output shaft of described vibrating motor has a left side for angle dislocation, right eccentric wheel, the approach end that described left eccentric wheel and far-end are fixed on the left swing bar of balance staff is hinged, the approach end that described right eccentric wheel and far-end are fixed on the right fork of pendulum axle sleeve is hinged, on described balance staff, axially spaced-apart is distributed with and trembles native bar towards radial a group of extending of throughput direction, described pendulum axle sleeve kink is on balance staff, and axially spaced-apart is distributed with the one group of hack bar extended towards throughput direction radial direction, have between adjacent hack bar and tremble the perforation of native bar, described tremble native bar and hack bar alternate intervals distribution.
3. electric intelligent green vegetable reaping machine according to claim 1 and 2, it is characterized in that: described cutting mechanism contains the cutting motor as power source, described cutting motor by output shaft down with there is the two angles upper and lower eccentric eccentric shaft that misplaces be in transmission connection, the upper and lower eccentric wheel of described eccentric shaft has the upper and lower cutter of cutter tooth respectively respectively by the upper and lower connecting rod of level handle of a knife with front end is hinged, and described upper and lower cutter forms the moving sets of horizontal direction with corresponding tool magazine respectively.
4. electric intelligent green vegetable reaping machine according to claim 3, it is characterized in that: described control circuit comprises Intelligent Single-Chip Based chip and connects and composes intelligent cell with the calculator with leaf image recognition function by serial communication, the control output end of described Intelligent Single-Chip Based chip connects the controlled end of upset motor, longitudinal motor, lifting motor, cross motor respectively by stepper motor interface and drive motors interface.
5. electric intelligent green vegetable reaping machine according to claim 4, it is characterized in that: described mechanical hand assembly is also containing the longitudinal rail consistent with tape transport direction and longitudinal motor-driven longitudinal leading screw and nut mechanism, and described lifting motor and elevating screw nut body are positioned at and form on the base of moving sets with longitudinal rail.
6. electric intelligent green vegetable reaping machine according to claim 5, is characterized in that: the rear end of described cutting mechanism is connected with soil shaking body by guided plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520542636.9U CN204907165U (en) | 2015-07-24 | 2015-07-24 | Electronic intelligent green vegetable harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520542636.9U CN204907165U (en) | 2015-07-24 | 2015-07-24 | Electronic intelligent green vegetable harvester |
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| Publication Number | Publication Date |
|---|---|
| CN204907165U true CN204907165U (en) | 2015-12-30 |
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ID=54956371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520542636.9U Withdrawn - After Issue CN204907165U (en) | 2015-07-24 | 2015-07-24 | Electronic intelligent green vegetable harvester |
Country Status (1)
| Country | Link |
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| CN (1) | CN204907165U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105409435A (en) * | 2015-07-24 | 2016-03-23 | 农业部南京农业机械化研究所 | Electric smart green vegetable harvester |
| CN105493747A (en) * | 2016-01-29 | 2016-04-20 | 南京农业大学 | Electric leaf vegetable harvesting machine |
| CN113545221A (en) * | 2020-04-05 | 2021-10-26 | 常防震 | Combine harvester with partial root vegetables |
| CN114097413A (en) * | 2021-09-29 | 2022-03-01 | 上海贤日测控科技有限公司 | Harvester and bean sprout harvesting method |
-
2015
- 2015-07-24 CN CN201520542636.9U patent/CN204907165U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105409435A (en) * | 2015-07-24 | 2016-03-23 | 农业部南京农业机械化研究所 | Electric smart green vegetable harvester |
| CN105493747A (en) * | 2016-01-29 | 2016-04-20 | 南京农业大学 | Electric leaf vegetable harvesting machine |
| CN113545221A (en) * | 2020-04-05 | 2021-10-26 | 常防震 | Combine harvester with partial root vegetables |
| CN114097413A (en) * | 2021-09-29 | 2022-03-01 | 上海贤日测控科技有限公司 | Harvester and bean sprout harvesting method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151230 Effective date of abandoning: 20180119 |
|
| AV01 | Patent right actively abandoned |