CN206237811U - A kind of automatic picking machine of green vegetables - Google Patents
A kind of automatic picking machine of green vegetables Download PDFInfo
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- CN206237811U CN206237811U CN201621353281.XU CN201621353281U CN206237811U CN 206237811 U CN206237811 U CN 206237811U CN 201621353281 U CN201621353281 U CN 201621353281U CN 206237811 U CN206237811 U CN 206237811U
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- green vegetables
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Abstract
The utility model discloses a kind of automatic picking machine of green vegetables, including shovel kitchen knife head moving guide rail mechanism, shovel dish bit mechanism, shaker belting, vehicle frame and behavioral system, monitor camera, grab dish mechanical arm, at a slow speed hairbrush brush, sorting conveyer belt and mechanical arm transverse moving mechanism etc..The automatic picking machine of green vegetables that the utility model is provided, reasonable in design, functional entity is perfect, can mechanically complete the harvesting of green vegetables, reduces labour cost, very easy to use；Meanwhile, the green vegetables automatic picking machine that the utility model embodiment is provided improves green vegetables and plucks and production efficiency, it is to avoid the technological deficiency that Traditional Man is plucked.
Description
Technical field
The utility model is related to talents for agri-mechanization technical field, more particularly to a kind of automatic picking machine of green vegetables.
Background technology
In daily agricultural production, vegetables with green leaves (vegetables with green leaves, i.e. typically green vegetables, Chinese little greens, three-coloured amaranth and crowndaisy chrysanthemum, market
It is required that fresh and tender, plucked with root) production and harvesting be a kind of labor-intensive heavy physical labour, in particular with vinyl house
Large-scale application in vegetables with green leaves production, it is hot and humid in vinyl house, even more it is degrading working condition.
With the forfeiture and the growth of labor cost of labour's bonus, vegetables with green leaves pluck cost more and more higher, or even look for
This work is done less than people.
It will be apparent that prior art is still present some objective technological deficiencies：Existing agricultural harvesting mechanical, uses mostly
Harvesting (such as wheat paddy rice), the method such as drying and then sorting (such as cabbage, radish, Ipomoea batatas etc.) of ploughing, cannot be applied to green grass or young crops at all
The harvesting of dish.There are an other receipts dish machine in foreign countries, but are used for sandy soil.Be not suitable for the viscous wet soil ground of China, and root is stayed in requirement,
The tender national conditions of dish.
To sum up, still without the machine for for green vegetables pluck production accordingly in the prior art and in existing market
Tool product.
Utility model content
The purpose of this utility model is to provide a kind of automatic picking machine of green vegetables, to solve the above problems.
In order to achieve the above object, the technical solution of the utility model is realized in：
The utility model provides a kind of automatic picking machine of green vegetables, including shovel kitchen knife head moving guide rail mechanism 1, shovel kitchen knife head
Mechanism 2, shaker belting 3, vehicle frame and behavioral system 4, monitoring camera 5, grab dish mechanical arm 6, hairbrush brush 7, sort at a slow speed
Conveyer belt 8 and mechanical arm transverse moving mechanism 9, wherein：
Construction, position relationship, connected mode and layout between above-mentioned each functional entity and part is as follows：
The vehicle frame and behavioral system 4 specifically include vehicle frame and drive system；The front outsides of the vehicle frame are provided projectingly
There are the shovel kitchen knife head moving guide rail mechanism 1 and the shovel dish bit mechanism 2；The shovel kitchen knife head moving guide rail mechanism 1 is used for
The shovel dish bit mechanism 2 is driven to be moved back and forth from one end to the other end；
The shovel dish bit mechanism 2 specifically includes fork and the perching knife positioned at the fork bottom；The shovel kitchen knife head machine
Structure 2 is used to shovel dish since one end is as other end horizontal direction；The shovel dish bit mechanism 2 is used to drive fork and perching knife to exist
Together, and at a certain angle in injecting soil, in sliding trackle soil in involved scope green vegetables root system, and by posterior rotation axial direction
Slowly dig, quick upset, by the related soil feeding shaker belting 3 of green vegetables；
The shaker belting 3 is horizontally installed on the front inner of the vehicle frame, and the conveyer belt 8 of sorting at a slow speed vertically sets
Put in the inner side of the vehicle frame, and the end of the shaker belting 3 is connected with the head end of the conveyer belt 8 of sorting at a slow speed；Institute
Multiple spaces are additionally provided with the surface for stating shaker belting 3；The shaker belting 3 is used to carry out vibration shake to green vegetables,
The part soil that shakes is fallen from the space, and green vegetables are transported on the conveyer belt 8 of sorting at a slow speed；
Top in the transmission direction of the conveyer belt 8 of sorting at a slow speed is provided with multigroup mechanical arm transverse shifting machine
Structure 9；And be correspondingly arranged on mechanical arm transverse moving mechanism 9 described in every group one monitoring camera 5 and one grab dish machinery
Arm 6；And the lower section of mechanical arm transverse moving mechanism 9 described in every group also corresponds to positioned at the side edge of sorting conveyer belt 8 at a slow speed and sets
It is equipped with a hairbrush brush 7；The mechanical arm transverse moving mechanism (9) electrically connects with monitoring camera (5)；
The dish mechanical arm 6 of grabbing is for directly carrying out grasping manipulation to green vegetables, and in transverse shifting, pass through the root of dish
Hairbrush brush 7 removes remaining soil, to after dish basket top, performs and unclamps the operation that gripper puts into the green vegetables in dish basket.
Preferably, can embodiment as one kind；In the concrete structure of shovel dish bit mechanism 2：The perching knife is specific
For the root system of green vegetables in involved scope in perching knife sliding trackle soil；The fork is specifically for the clear soil of vibration and passes through posterior rotation
Slowly dug on axial direction, shake off part soil, and green vegetables are provoked into quick upset, the related soil feeding shaker belting of green vegetables
On 3；
Preferably, can embodiment as one kind；In the concrete structure of shovel dish bit mechanism 2：The fork and institute
State between perching knife to be detachably connected；And the shape of different types of fork is different with spacing, it is used to fit without the fork of type
Answer different types of green vegetables.
Preferably, can embodiment as one kind；In the concrete structure of shovel dish bit mechanism 2：The fork and institute
State the tilt adjustable section of the shovel dish bit mechanism 2 of perching knife composition.
It should be noted that；By fork, (up, the shape and spacing of fork are set shovel dish bit mechanism 2 by different colzas
It is fixed) and perching knife composition；Fork together with perching knife and to subscribe angle, subscribe depth ejection inject soil in (angle depth according to
Dish difference and set)；
Preferably, can embodiment as one kind；The camera lens of the monitoring camera 5 is directed at the sorting conveying at a slow speed
On band 8.
Preferably, can embodiment as one kind；The dish mechanical arm 6 of grabbing specifically includes multiple grippers；It is described to grab dish
Mechanical arm 6 be used for horizontal direction, vertical direction move, and it is described grab dish mechanical arm 6 be additionally operable to end rotation and pass through folding it is many
Individual gripper is captured to green vegetables.
Preferably, can embodiment as one kind；The dish mechanical arm 6 of grabbing is additionally operable to head rotation, while transverse shifting,
Dish root is passed through the hairbrush brush 7 on right side, and the soil on the dish root of clear green vegetables is brushed by the hairbrush brush 7.
Preferably, can embodiment as one kind；The hairbrush brush 7 grabs dish mechanical arm 6 laterally described in being correspondingly arranged at
Along the underface of the movement locus of mechanical arm transverse moving mechanism 9.
Preferably, can embodiment as one kind；The bottom of mechanical arm transverse moving mechanism 9 is also correspondingly arranged described in every group
There is spraying-cleaning device (not shown)；The spraying-cleaning device is used to perform spray operation to green vegetables surface.
Preferably, can embodiment as one kind；Multigroup mechanical arm transverse moving mechanism 9 is evenly spaced apart to be distributed in
The top for sorting conveyer belt 8 at a slow speed.
Compared with prior art, the advantage of the utility model embodiment is：
The automatic picking machine of a kind of green vegetables that the utility model is provided, it is mainly by shovel kitchen knife head moving guide rail mechanism 1, shovel dish
Bit mechanism 2, shaker belting 3, vehicle frame and behavioral system 4, monitoring camera 5, grab dish mechanical arm 6, hairbrush brush 7, at a slow speed
The several part compositions of sorting conveyer belt 8 and mechanical arm transverse moving mechanism 9 etc.；
Wherein, each functional entity performs respective mechanical action and realizes a series of machine by each functional entity
Tool links, and completes the picking process of automatic green vegetables；
The shovel kitchen knife head moving guide rail mechanism 1 mainly drives the shovel dish bit mechanism 2 reciprocal to the other end from one end
It is mobile；
The shovel dish bit mechanism 2 specifically includes fork and the perching knife positioned at the fork bottom；The shovel kitchen knife head machine
Structure 2 is main to shovel dish since one end is as other end horizontal direction, and on the related soil feeding shaker belting 3 of green vegetables；
The shaker belting 3 is horizontally installed on the front inner of the vehicle frame, and the conveyer belt 8 of sorting at a slow speed vertically sets
Put in the inner side of the vehicle frame, and the end of the shaker belting 3 is connected with the head end of the conveyer belt 8 of sorting at a slow speed；Institute
Multiple spaces are additionally provided with the surface for stating shaker belting 3；The shaker belting 3 is used to carry out vibration shake to green vegetables,
The part soil that shakes is fallen from the space, and green vegetables are transported on the conveyer belt 8 of sorting at a slow speed；
Top in the transmission direction of the conveyer belt 8 of sorting at a slow speed is provided with multigroup mechanical arm transverse shifting machine
Structure 9；And be correspondingly arranged on mechanical arm transverse moving mechanism 9 described in every group one monitoring camera 5 and one grab dish machinery
Arm 6；And the lower section of mechanical arm transverse moving mechanism 9 described in every group also corresponds to positioned at the side edge of sorting conveyer belt 8 at a slow speed and sets
It is equipped with a hairbrush brush 7；The mechanical arm transverse moving mechanism (9) electrically connects with monitoring camera (5) and (supervises
The inside for surveying camera is built-in with motion control chip etc., and this is no longer repeated one by one)；So mechanical arm transverse moving mechanism 9
Position of the current green vegetables on the conveyer belt 8 of sorting at a slow speed can be obtained by monitoring camera 5, and it is corresponding to coordinate driving
The green vegetables grabbed on 6 pairs of positions of dish mechanical arm carry out grasping manipulation；The dish mechanical arm 6 of grabbing to green vegetables for directly capturing
Operation, and in transverse shifting, the root of dish is removed remaining soil by hairbrush brush 7, to after dish basket top, perform release
The green vegetables are put into gripper the operation in dish basket.
It will be apparent that the automatic picking machine of green vegetables that the utility model embodiment is provided, reasonable in design, functional entity is complete
It is kind, the harvesting of green vegetables can be mechanically completed, labour cost is reduced, it is very easy to use；Meanwhile, this practicality is new
The green vegetables automatic picking machine that type embodiment is provided, improves green vegetables and plucks and production efficiency, it is to avoid the skill that Traditional Man is plucked
Art defect.
Brief description of the drawings
In order to illustrate more clearly of the utility model specific embodiment or technical scheme of the prior art, below will be right
The accompanying drawing to be used needed for specific embodiment or description of the prior art is briefly described, it should be apparent that, describe below
In accompanying drawing be some implementation methods of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation under the automatic visual angle of picking machine one of green vegetables that the utility model embodiment is provided；
Fig. 2 is the structural representation under another visual angle of the automatic picking machine of green vegetables that the utility model embodiment is provided；
Description of reference numerals：
Shovel kitchen knife head moving guide rail mechanism 1；
Shovel dish bit mechanism 2；
Shaker belting 3；
Vehicle frame and behavioral system 4；
Monitoring camera 5；
Grab dish mechanical arm 6；
Hairbrush brush 7；
Conveyer belt 8 is sorted at a slow speed；
Mechanical arm transverse moving mechanism 9.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is a part of embodiment of the utility model, rather than whole embodiments.Based on the embodiment in the utility model, this
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
It is term " " center ", " on ", D score, "left", "right", " perpendicular, it is necessary to explanation in description of the present utility model
Directly ", the orientation or position relationship of the instruction such as " level ", " interior ", " outward " are, based on orientation shown in the drawings or position relationship, to be only
Described with simplified for the ease of description the utility model, must had rather than the device or element for indicating or implying meaning specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.Additionally, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicating or implying relative importance.
, it is necessary to explanation, unless otherwise clearly defined and limited, term " is pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integratedly
Connection；Can mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary,
Can be two connections of element internal.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
The utility model is described in further detail below by specific embodiment and with reference to accompanying drawing.
Moved referring to the automatic picking machine of a kind of green vegetables that Fig. 1 and Fig. 2, the utility model embodiment are provided, including shovel kitchen knife head
Move guide rail mechanism 1, shovel dish bit mechanism 2, shaker belting 3, vehicle frame and behavioral system 4, monitoring camera 5, grab dish mechanical arm
6th, hairbrush brush 7, at a slow speed sorting conveyer belt 8 and mechanical arm transverse moving mechanism 9, wherein：
Construction, position relationship, connected mode and layout between above-mentioned each functional entity and part is as follows：
The vehicle frame and behavioral system 4 specifically include vehicle frame and drive system；The front outsides of the vehicle frame are provided projectingly
There are the shovel kitchen knife head moving guide rail mechanism 1 and the shovel dish bit mechanism 2；The shovel kitchen knife head moving guide rail mechanism 1 is used for
The shovel dish bit mechanism 2 is driven to be moved back and forth from one end to the other end；
The shovel dish bit mechanism 2 specifically includes fork and the perching knife positioned at the fork bottom；The shovel kitchen knife head machine
Structure 2 is used to shovel dish since one end is as other end horizontal direction；The shovel dish bit mechanism 2 is used to drive fork and perching knife to exist
Together, and at a certain angle in injecting soil, in sliding trackle soil in involved scope green vegetables root system, and by posterior rotation axial direction
Slowly dig, quick upset, by the related soil feeding shaker belting 3 of green vegetables；
The shaker belting 3 is horizontally installed on the front inner of the vehicle frame, and the conveyer belt 8 of sorting at a slow speed vertically sets
Put in the inner side of the vehicle frame, and the end of the shaker belting 3 is connected with the head end of the conveyer belt 8 of sorting at a slow speed；Institute
Multiple spaces are additionally provided with the surface for stating shaker belting 3；The shaker belting 3 is used to carry out vibration shake to green vegetables,
The part soil that shakes is fallen from the space, and green vegetables are transported on the conveyer belt 8 of sorting at a slow speed；
Top in the transmission direction of the conveyer belt 8 of sorting at a slow speed is provided with multigroup mechanical arm transverse shifting machine
Structure 9；And be correspondingly arranged on mechanical arm transverse moving mechanism 9 described in every group one monitoring camera 5 and one grab dish machinery
Arm 6；And the lower section of mechanical arm transverse moving mechanism 9 described in every group also corresponds to positioned at the side edge of sorting conveyer belt 8 at a slow speed and sets
It is equipped with the hairbrush brush 7 and (mechanical arm transverse moving mechanism 9, monitoring camera 5 and grabs dish mechanical arm 6, hairbrush brush
7 is to correspond to set)；The mechanical arm transverse moving mechanism (9) electrically connects with monitoring camera (5)；(monitor
The inside of camera is built-in with motion control chip etc., and this is no longer repeated one by one) constructed by said structure and then realized such as
Lower technology：The mechanical arm transverse moving mechanism 9 obtains current green vegetables by monitoring camera 5 and sorts conveyer belt at a slow speed described
Position on 8, and coordinate to drive corresponding green vegetables grabbed on 6 pairs of positions of dish mechanical arm to carry out grasping manipulation (above-mentioned to be related to fortune
The internal processes design of dynamic control chip is not protection point of the present utility model, and the utility model is that protection green vegetables are adopted automatically
The system architecture of off-hook)；
The dish mechanical arm 6 of grabbing is for directly carrying out grasping manipulation to green vegetables, and in transverse shifting, pass through the root of dish
Hairbrush brush 7 removes remaining soil, to after dish basket top, performs and unclamps the operation that gripper puts into the green vegetables in dish basket.
The automatic picking machine specific configuration of green vegetables and particular technique effect for providing the utility model embodiment below are done
Once describe in detail：
In the concrete structure of shovel dish bit mechanism 2：The perching knife is specifically for involved scope in perching knife sliding trackle soil
The root system of interior green vegetables；The fork shakes off part mud specifically for the clear soil of vibration and by slowly being dug on posterior rotation axial direction
Soil, and green vegetables are provoked into quick upset, on the related soil feeding shaker belting 3 of green vegetables；
In the concrete structure of shovel dish bit mechanism 2：It is to be detachably connected between the fork and the perching knife；And not
The shape of the fork of same type is different with spacing, is used to adapt to different types of green vegetables without the fork of type.
In the concrete structure of shovel dish bit mechanism 2：The shovel kitchen knife head machine that the fork is constituted with the perching knife
The tilt adjustable section of structure 2.
It should be noted that；By fork, (up, the shape and spacing of fork are set shovel dish bit mechanism 2 by different colzas
It is fixed) and perching knife composition；Fork together with perching knife and to subscribe angle, subscribe depth ejection inject soil in (angle depth according to
Dish difference and set)；
Preferably, can embodiment as one kind；The camera lens of the monitoring camera 5 is directed at the sorting conveying at a slow speed
On band 8.
Preferably, can embodiment as one kind；The dish mechanical arm 6 of grabbing specifically includes multiple grippers；It is described to grab dish
Mechanical arm 6 be used for horizontal direction, vertical direction move, and it is described grab dish mechanical arm 6 be additionally operable to end rotation and pass through folding it is many
Individual gripper is captured to green vegetables.
Preferably, can embodiment as one kind；The dish mechanical arm 6 of grabbing is additionally operable to head rotation, while transverse shifting,
Dish root is passed through the hairbrush brush 7 on right side, and the soil on the dish root of clear green vegetables is brushed by the hairbrush brush 7.
The hairbrush brush 7 is correspondingly arranged at described grab dish mechanical arm 6 and is moved laterally along mechanical arm transverse moving mechanism 9
The underface of track.
It should be noted that the dish mechanical arm 6 of grabbing is in crawl green vegetables to the right moving process, it will pass through dish root
The hairbrush brush 7 on right side, just can now brush the soil on the dish root of clear green vegetables by the hairbrush brush 7；It is same with this
When, said brush brush 7 needs and grabs dish mechanical arm 6, mechanical arm transverse moving mechanism 9 and form cleverly position relationship；That is hair
Brush brush 7 is grabbing the underface of the transverse shifting track of dish mechanical arm 6, so just can guarantee that hairbrush brush is carried out to green vegetables effectively clear
It is clean.
Preferably, can embodiment as one kind；The bottom of mechanical arm transverse moving mechanism 9 is also correspondingly arranged described in every group
There is spraying-cleaning device (not shown)；The spraying-cleaning device is used to perform spray operation to green vegetables surface.
It should be noted that in order to further lifted pluck after green vegetables clean level, can be in the utility model reality
Apply and install other functions mechanism on the automatic picking machine of green vegetables of example additional, such as spraying-cleaning device is sprayed water by it to surface
Cleaning, so as to realize more functions, reaches the cleaning effect for settling at one go.
Preferably, can embodiment as one kind；Multigroup mechanical arm transverse moving mechanism 9 is evenly spaced apart to be distributed in
The top for sorting conveyer belt 8 at a slow speed.
It should be noted that picking efficiency and more functional realieys in order to realize the automatic picking machine of green vegetables；Its machine
Tool arm transverse moving mechanism 9 and its corresponding monitoring camera 5 and to grab dish mechanical arm 6, hairbrush brush 7 be a group by a group
Arrangement, and uniform intervals distribution；Monitoring camera below and grab the crawl of dish mechanical arm and do not grabbed dish mechanical arm above
And the green vegetables grabbed, it is ensured that without omission.
Operating process principle：
Step 1：Pluck one end that dish machine is parked in vegetable plot；
Step 2：Shovel dish bit mechanism 2 shovels dish since one end (such as right-hand member)；
Step 3：Shovel dish bit mechanism 2 is by fork (up, the shape and spacing of fork are set by different colzas) and shovel
Knife is constituted；
Step 4：Fork together with perching knife and to subscribe angle, subscribe depth ejection inject soil in (angle depth according to
Dish difference and set)；
Step 5：In perching knife sliding trackle soil in involved scope green vegetables root system；
Step 6：Fork starts to vibrate and slowly dug upwards with rear portion rotary shaft, shakes off a part of soil, and will be shoveled
Green vegetables in the range of soil are provoked；
Step 7：Fork quickly overturns, the related soil feeding shaker belting of green vegetables；
Step 8：The return of shovel dish bit mechanism 2, the lattice of transverse shifting one (such as to the left) is shoveled to the green vegetables of the next position
Dish, repeat step 2-8；
Step 9：Shovel dish bit mechanism 2 is run to behind termination (such as left end), is plucked dish machine and is travelled forward a step, from left to right
Start next round shovel dish；
Step 10：Shaker belting 3 can shake part soil, and soil falls in the space of shaker belting 3；
Step 11：Green vegetables fall into sorting conveyer belt 8 at a slow speed with the operation of shaker belting 3；
Step 12：Several monitoring cameras 5 are directed at sorting conveyer belt 8 at a slow speed；
Step 13：Each monitoring camera 5 it is supporting there is one to grab dish mechanical arm 6；
Step 14：Grabbing dish mechanical arm 6 can be horizontal, moves up and down, end rotation simultaneously folding；
Step 15：After a green vegetables are told, grab dish of the crawl green vegetables of dish mechanical arm 6 near root and obstruct；
Step 16：The head rotation of dish mechanical arm 6 is grabbed, mechanical arm transverse shifting makes dish root pass through hairbrush brush 7, finally
Remove soil, necessity can spraying-rinsing green vegetables；
Step 17：Grab dish mechanical arm 6 and continue transverse shifting, to dish basket top, unclamp gripper, dish is put into dish basket；
Step 18：Grab the return of dish mechanical arm 6；
Step 19：Monitoring camera below and grab dish mechanical arm 6 and capture and do not grabbed above dish mechanical arm 6 and have enough time to grab
Green vegetables, it is ensured that without omit.
For different green vegetables countermeasure (the utility model embodiment provide the automatic picking machine of green vegetables for different types of
Green vegetables are plucked has very strong structure adaptability).
It should be noted that green vegetables and Chinese little greens form are more close, to pluck green vegetables as prototype, by changing shovel dish
Jaw is spaced and shape, and shovel kitchen knife head inserts the angle and depth of soil, can pluck Chinese little greens.The characteristics of three-coloured amaranth is that have
Dish bar, and it is long, and dish is also higher.Corresponding design is to cancel jaw, is changed to Liang Zhi mechanisms.This Liang Zhi mechanism is not inserted into
In soil, above soil, perching knife is related to the three-coloured amaranth dish bar on area grab into one, Ling You mechanisms bundling, then perching knife ejection,
Root system in sliding trackle soil.Dish bundle is sent into shaker belting by Liang Zhi mechanisms.Monitoring camera differentiates every three-coloured amaranth, and mechanical arm is also
Capture at every bundling three-coloured amaranth.For the automatic picking machine of green vegetables that the utility model embodiment is provided, other local deformation structures
Make, this utility model is no longer repeated one by one.
In sum, the automatic picking machine of green vegetables that the utility model embodiment is provided, it is mainly led by the movement of shovel kitchen knife head
Rail mechanism 1, shovel dish bit mechanism 2, shaker belting 3, vehicle frame and behavioral system 4, monitoring camera 5, grab dish mechanical arm 6, hair
The several part compositions of brush brush 7, at a slow speed sorting conveyer belt 8 and mechanical arm transverse moving mechanism 9 etc.；Its each functional entity is performed
Respective mechanical action, and a series of mechanical linkage is realized by each functional entity, and complete the harvesting of automatic green vegetables
Journey；The automatic picking machine of green vegetables that the utility model embodiment is provided, reasonable in design, functional entity is perfect, can be by machinery
Mode completes the harvesting of green vegetables, reduces labour cost, very easy to use；Meanwhile, the utility model embodiment is provided
The automatic picking machine of green vegetables, improve green vegetables pluck and production efficiency, with all many technical advantages, therefore it will band
Carry out good market prospects and economic benefit.
Finally it should be noted that：Various embodiments above is only used to illustrate the technical solution of the utility model, rather than it is limited
System；Although being described in detail to the utility model with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, or to which part or whole
Technical characteristic carries out equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
1. the automatic picking machine of a kind of green vegetables, it is characterised in that including shovel kitchen knife head moving guide rail mechanism (1), shovel dish bit mechanism
(2), shaker belting (3), vehicle frame and behavioral system (4), monitoring camera (5), grab dish mechanical arm (6), hairbrush brush (7),
Conveyer belt (8) and mechanical arm transverse moving mechanism (9) are sorted at a slow speed, wherein：
The vehicle frame and behavioral system (4) specifically include vehicle frame and drive system；The front outsides of the vehicle frame have been provided projectingly
Shovel kitchen knife head moving guide rail mechanism (1) and shovel dish bit mechanism (2)；Shovel kitchen knife head moving guide rail mechanism (1)
For driving shovel dish bit mechanism (2) to be moved back and forth from one end to the other end；
Shovel dish bit mechanism (2) specifically includes fork and the perching knife positioned at the fork bottom；The shovel dish bit mechanism
(2) for since one end as other end horizontal direction shovel dish；Shovel dish bit mechanism (2) is for driving fork and perching knife
Together, and at a certain angle in injecting soil, in sliding trackle soil in involved scope green vegetables root system, and by posterior rotation axial direction
On slowly dig, the related soil of green vegetables is sent on shaker belting (3) in quick upset；
The shaker belting (3) is horizontally installed on the front inner of the vehicle frame, and sorting conveyer belt (8) at a slow speed vertically sets
Put in the inner side of the vehicle frame, and the end of the shaker belting (3) connects with the head end of sorting conveyer belt (8) at a slow speed
Connect；Multiple spaces are additionally provided with the surface of the shaker belting (3)；The shaker belting (3) to green vegetables for carrying out
Vibration shake, the part soil that shakes is fallen from the space, and green vegetables are transported in sorting conveyer belt (8) at a slow speed；
Top in the transmission direction of sorting conveyer belt (8) at a slow speed is provided with multigroup mechanical arm transverse moving mechanism
(9)；And be correspondingly arranged on mechanical arm transverse moving mechanism (9) described in every group one monitoring camera (5) and one grab dish
Mechanical arm (6)；And the lower section of mechanical arm transverse moving mechanism (9) described in every group is located at described sorting conveyer belt (8) side at a slow speed
Place is also correspondingly arranged on a hairbrush brush (7)；The mechanical arm transverse moving mechanism (9) and the monitoring camera
(5) electrically connect；
The dish mechanical arm (6) of grabbing makes the root of dish pass through hair for directly green vegetables to be carried out with grasping manipulation, and in transverse shifting
Brush brush (7) removes remaining soil, to after dish basket top, performs and unclamps the operation that gripper puts into the green vegetables in dish basket.
2. the automatic picking machine of green vegetables as claimed in claim 1, it is characterised in that
Root system of the perching knife specifically for green vegetables in involved scope in perching knife sliding trackle soil；The fork is clear specifically for vibration
Soil simultaneously passes through slowly to be dug on posterior rotation axial direction, shakes off part soil, and green vegetables are provoked into quick upset, the related mud of green vegetables
On soil feeding shaker belting (3).
3. the automatic picking machine of green vegetables as claimed in claim 2, it is characterised in that
It is to be detachably connected between the fork and the perching knife；And the shape of different types of fork is different with spacing, without
The fork of type is used to adapt to different types of green vegetables.
4. the automatic picking machine of green vegetables as claimed in claim 3, it is characterised in that
The tilt adjustable section of the shovel dish bit mechanism (2) that the fork is constituted with the perching knife.
5. the automatic picking machine of green vegetables as claimed in claim 1, it is characterised in that
The camera lens of monitoring camera (5) is aligned in sorting conveyer belt (8) at a slow speed.
6. the automatic picking machine of green vegetables as claimed in claim 1, it is characterised in that
The dish mechanical arm (6) of grabbing specifically includes multiple grippers；The dish mechanical arm (6) of grabbing is for horizontal direction, vertically side
It is additionally operable to end rotation and green vegetables are captured by folding multiple gripper to movement, and the dish mechanical arm (6) of grabbing.
7. the automatic picking machine of green vegetables as claimed in claim 6, it is characterised in that
The dish mechanical arm (6) of grabbing is additionally operable to head rotation, while transverse shifting, makes dish root pass through the hairbrush brush on right side
(7), and by the hairbrush brush (7) soil on the dish root of clear green vegetables is brushed.
8. the automatic picking machine of green vegetables as claimed in claim 7, it is characterised in that
The hairbrush brush (7) is correspondingly arranged at the dish mechanical arm (6) of grabbing and is transported laterally along mechanical arm transverse moving mechanism (9)
The underface of dynamic rail mark.
9. the automatic picking machine of green vegetables as claimed in claim 8, it is characterised in that
The bottom of mechanical arm transverse moving mechanism (9) is also correspondingly arranged on spraying-cleaning device described in every group；The spraying-rinsing
Device is used to perform spray operation to green vegetables surface.
10. the automatic picking machine of green vegetables as claimed in claim 1, it is characterised in that
Multigroup mechanical arm transverse moving mechanism (9) is evenly spaced apart to be distributed in the top of sorting conveyer belt (8) at a slow speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621353281.XU CN206237811U (en) | 2016-12-08 | 2016-12-08 | A kind of automatic picking machine of green vegetables |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621353281.XU CN206237811U (en) | 2016-12-08 | 2016-12-08 | A kind of automatic picking machine of green vegetables |
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| CN206237811U true CN206237811U (en) | 2017-06-13 |
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| CN201621353281.XU Expired - Fee Related CN206237811U (en) | 2016-12-08 | 2016-12-08 | A kind of automatic picking machine of green vegetables |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106688434A (en) * | 2016-12-08 | 2017-05-24 | 武汉慧能机器人科技有限公司 | Automatic picking machine for green vegetables |
| CN110741804A (en) * | 2019-11-29 | 2020-02-04 | 宁波大龙农业科技有限公司 | Automatic picking device |
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2016
- 2016-12-08 CN CN201621353281.XU patent/CN206237811U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106688434A (en) * | 2016-12-08 | 2017-05-24 | 武汉慧能机器人科技有限公司 | Automatic picking machine for green vegetables |
| CN110741804A (en) * | 2019-11-29 | 2020-02-04 | 宁波大龙农业科技有限公司 | Automatic picking device |
| CN110741804B (en) * | 2019-11-29 | 2021-05-07 | 宁波大龙农业科技有限公司 | Automatic picking device |
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