CN207543659U - Cauliflower selectively harvesting all-in-one machine - Google Patents
Cauliflower selectively harvesting all-in-one machine Download PDFInfo
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- CN207543659U CN207543659U CN201721568709.7U CN201721568709U CN207543659U CN 207543659 U CN207543659 U CN 207543659U CN 201721568709 U CN201721568709 U CN 201721568709U CN 207543659 U CN207543659 U CN 207543659U
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- cauliflower
- machine
- guide rail
- supporting rack
- fixed
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Abstract
The utility model is related to a kind of cauliflower selectively harvesting all-in-one machine, including being equipped with master controller（13）Mobile platform（1）, the mobile platform（1）It is fixed with successively before and after upper by transmitting inclined plate（4）The supporting rack of connection（9）With harvest case（3）, the supporting rack（9）Upper be horizontally disposed with has guide rail（7）And guide rail（7）On slidably connect movable picker.The utility model can realize according to the maturity of cauliflower and the selectivity of cauliflower is harvested, simple in structure, working efficiency is high, saves manpower.
Description
Technical field
The utility model is related to Agricultural Machinery Technology fields, and in particular to a kind of cauliflower selectively harvesting all-in-one machine.
Background technology
Cauliflower, also known as cauliflower, cauliflower or cauliflower, quality is fresh and tender, full of nutrition, and flavor is delicious, be it is a kind of very by
The favorite vegetables of people.Vitamin C content in cauliflower is very abundant, and also has anticancer function, average nutritive value and
Prophylaxis effect is far beyond other vegetables.The cauliflower huge market demand has good economic value.
At present, the harvesting of cauliflower, which relies primarily on, is accomplished manually, and there are the shortcomings of of high cost, labor intensity is big, time-consuming and laborious.
In addition, to be harvested in time after cauliflower maturation, otherwise the easily loose aging of bouquet, influences commodity value.Due to planting environment and management
The influence of factor, the cauliflower growing way of same planting area have differences, and maturation time is different, therefore will be according to maturity to cauliflower
Carry out selective harvesting.
Utility model content
The utility model in view of the deficiencies of the prior art, provides a kind of cauliflower selectively harvesting all-in-one machine and its controlling party
Method can realize according to the maturity of cauliflower and the selectivity of cauliflower is harvested, simple in structure, working efficiency is high, saves manpower.
The utility model is achieved by the following technical solution：
A kind of cauliflower selectively harvesting all-in-one machine, the mobile platform including being equipped with master controller, the movement are provided
Front and rear on platform to be fixed with successively by transmitting supporting rack and the harvest case that inclined plate connects, being horizontally disposed on the supporting rack has
Movable picker is slidably connected on guide rail and guide rail.
Master controller picks cauliflower by the picker that three-dimensional is controlled to move, and the cauliflower of picking is passed through transmission
Inclined plate is sent to harvest case, realizes the automatic harvesting to cauliflower.
Further, the both ends of the guide rail are slidably arranged in respectively in the slideway of supporting rack both sides, the slideway
Inside it is provided at both ends with limited block.
Guide rail slides setting on supporting rack, can realize the picker X-direction fortune in the horizontal direction on guide rail
It is dynamic.
Further, the transmission inclined plate is fixed on the vertical height of one end of supporting rack and is fixed on higher than transmission inclined plate
Harvest the vertical height of one end of case.
Supporting rack side transmission inclined plate vertical height height is convenient for the cauliflower of picking slipping into harvest from the upper end of transmission inclined plate
In case, realize and collect.
Further, the picker includes the sliding block to match with guide rail, and the sliding block is equipped with tapped through hole
And vertical ball-screw is connected in tapped through hole, the upper end of the ball-screw and the shaft of motor are keyed, and under
The center at end is fixed with the camera being connect by pattern recognition device with master controller, the side of the lower end of the ball-screw
Edge is hinged at least two openable and closable and opposite arc clips that are open, and the bottom end of the arc clip is fixed with cutter
Tool.
Master controller positions cauliflower by the camera being connect with pattern recognition device, passes through arc clip bottom end
Cutting tool the bottom of cauliflower is cut, the cauliflower after cutting clamped by arc clip and pass through ball-screw upwards will
Cauliflower is promoted to one end of transmission inclined plate, opens arc clip, and cauliflower is slided into harvest case.
Preferably, the cutting tool is arc-like sheet, the arcwall face of the arc-like sheet is equipped with cutting edge.
The bottom of arc clip is fixed with the cutting tool being oppositely arranged when being cut, can be to the root of cauliflower bottom
It is cut, facilitates picking.
Further, the sliding block is consolidated with the push rod of electric pushrod set along guide rail direction, described electronic to push away
Bar is electrically connected by switching with master controller.
Master controller realizes picking by the way that electric pushrod is controlled to be adjusted come the moving direction to sliding block and ball-screw
The horizontal Y-axis of device and the movement of vertical Z axis.
The utility model has following advantageous effect：
First, the blank of no special cauliflower selectively harvesting machine is compensated for, to realize that harvesting provides cauliflower automatically
It may.
2nd, it is simple in structure, it improves labor efficiency, is harvested suitable for the selectivity of extensive cauliflower plantation.
Description of the drawings
Fig. 1 is the utility model overview；
Fig. 2 is the enlarged diagram of A in Fig. 1；
Fig. 3 is the bottom surface structure schematic diagram of Fig. 1；
Fig. 4 is the structure diagram of picker；
Fig. 5 is the enlarged diagram of B in Fig. 4.
Shown in figure：
1st, mobile platform, 2, driving wheel, 3, harvest case, 4, transmission inclined plate, 5, slideway, 6, limited block, 7, guide rail, 8, ball
Leading screw, 9, supporting rack, 10, arc clip, 11, sliding block, 12, motor, 13, master controller, 14, cutting tool, 15, camera,
16th, fixed frame.
Specific embodiment
In order to clarify the technical characteristics of the invention, below by specific embodiment, this programme is illustrated.
A kind of cauliflower selectively harvesting all-in-one machine, the mobile platform 1 including being equipped with master controller 13, mobile platform 1 wrap
Pedestal and four driving wheels 2 before and after pedestal are included, is equipped with to control the differential turned between every group of driving wheel 2
Device when controlling mobile platform, is realized straight using PID control, and driving wheel 2 passes through the driving that is fixed on pedestal
Motor 12 is electrically connected with master controller 13.
It is front and rear on the mobile platform 1 to be fixed with successively by transmitting supporting rack 9 and the harvest case 3 that inclined plate 4 connects, institute
The transmission inclined plate 4 stated is fixed on one end that the vertical height of one end of supporting rack 9 is fixed on higher than transmission inclined plate 4 harvest case 3
Vertical height, be horizontally disposed on the supporting rack 9 have slidably connected on guide rail 7 and guide rail 7 can three-dimensional movement picking dress
It puts.Here three-dimensional movement refers respectively to guide rail 7 and drives ball-screw 8 along guide rail 7 in water in horizontal Y direction, sliding block 11
Flat X-direction and ball-screw 8 are in vertical Z-direction.
The both ends of the guide rail 7 are slidably arranged in respectively in the slideway 5 of 9 both sides of supporting rack, as the excellent of the present embodiment
Select embodiment, setting is there are three the guide rail 7 being mutually parallel in the slideway 5 on supporting rack 9, and adjacent guide rail 7 is in supporting rack 9
Slideway 5 in both ends be respectively arranged with limited block 6.Each guide rail 7 is provided with the electricity being fixed in slideway 5 in the perpendicular direction
Dynamic push rod, the push rod of electric pushrod is vertical with guide rail 7 fixed, and electric pushrod is electrically connected by switching with master controller 13, by leading
Controller 13 controls electric pushrod to push each 7 Y direction in the horizontal direction of guide rail operation.
The picker includes the sliding block 11 that matches with guide rail 7, the sliding block 11 equipped with tapped through hole and
The vertical ball-screw 8 of connection in tapped through hole, the upper end of the ball-screw 8 and the shaft of motor are keyed, and lower end
Center be fixed with the camera 15 being connect by pattern recognition device with master controller 13, the lower end of the ball-screw 8
Edge be hinged at least two openable and closable and opposite arc clips 10 of opening, the bottom end of arc folder 10 is fixed with
Cutting tool 14.
Ball-screw 8 is by being equipped with the arc clip that can mutually fasten 10 on fixed frame, the arc clip 10 is solid
Determine the end in frame 16 and be fixed with pitch wheel, the gear is realized by the servo driving being fixed in fixed frame 16
The opening and closing movement of arc clip 10, steering engine are electrically connected with master controller 13.
The cutting tool 14 is arc-like sheet, and the arcwall face of the arc-like sheet is equipped with cutting edge, certain cutting tool
It can be configured as other shapes, triangle, rectangle etc..
As an embodiment of the present embodiment, cutting tool 14 is horizontally disposed, after arc clip 10 clamps cauliflower, water
Flat cutting tool 14 cuts off the root of cauliflower.
The sliding block 11 is consolidated with the push rod of electric pushrod set along 7 direction of guide rail, and the electric pushrod passes through
Switch is electrically connected with master controller 13.
The control method of the cauliflower selectively harvesting all-in-one machine, includes the following steps：
Step 1: master controller 13 controls driving wheel 2 to walk, mobile platform 1 is moved into suitable position, image identification dress
Put image and will be uploaded to master controller 13 within sweep of the eye by camera 15；
Step 2: master controller 13 carries out the image of upload gray processing processing, Hough transformation, least square method completion circle
Profile and etc. determine cauliflower profile size, determine the center of circle, and decide whether to pick according to radius size；
Step 3: judged according to master controller 13 as a result, if it is determined that being picked, it is determined that the plan-position of picking point,
That is the center of circle obtains three-dimensional picking point coordinates by camera 13 and pattern recognition device, electronic push away is controlled by master controller 13
Bar is opened, and 11 position of sliding block on guide rail 7 and guide rail 7 is adjusted to suitable position, control motor carries out ball-screw 8
It moves down and drives picker to suitable position, and arc clip 10 and the movement of cutting tool 14 is controlled to be picked by motor；
Step 4: after the completion of picking, ball-screw 8 rises, and the cauliflower ball of picking is clamped using arc clip 10, and motor drives
Dynamic ball-screw 8, which moves up, to be moved to right over transmission inclined plate 4, and decentralization fruit makes it fall into harvest case 3；
It should be noted that three picker independent works in above structure, are independent of each other, and after the completion of picking, driving
2 drive mobile platform 1 of wheel moves on to be picked next time.
Certainly, above description is also not limited to the example above, and technical characteristic of the utility model without description can lead to
It crosses or realizes that details are not described herein using the prior art；Above example and attached drawing are merely to illustrate the technology of the utility model
Scheme is not the limitation to the utility model, and the utility model is described in detail with reference to preferred embodiment, this
Field it is to be appreciated by one skilled in the art that those skilled in the art institute in the essential scope of the utility model
For the variations, modifications, additions or substitutions made without departure from the objective of the utility model, the right that should also belong to the utility model will
Seek protection domain.
Claims (6)
1. a kind of cauliflower selectively harvesting all-in-one machine, it is characterised in that：Including being equipped with master controller（13）Mobile platform
（1）, the mobile platform（1）It is fixed with successively before and after upper by transmitting inclined plate（4）The supporting rack of connection（9）With harvest case
（3）, the supporting rack（9）Upper be horizontally disposed with has guide rail（7）And guide rail（7）On slidably connect movable picker.
2. cauliflower according to claim 1 selectively harvesting all-in-one machine, it is characterised in that：The guide rail（7）Both ends
It is slidably arranged in supporting rack respectively（9）The slideway of both sides（5）Interior, described slideway（5）Inside it is provided at both ends with limited block（6）.
3. cauliflower according to claim 2 selectively harvesting all-in-one machine, it is characterised in that：The transmission inclined plate（4）Gu
It is scheduled on supporting rack（9）One end vertical height higher than transmission inclined plate（4）It is fixed on harvest case（3）One end vertical height.
4. cauliflower according to claim 3 selectively harvesting all-in-one machine, it is characterised in that：The picker include with
Guide rail（7）The sliding block of matching（11）, the sliding block（11）It is equipped with tapped through hole and vertical rolling is connected in tapped through hole
Ballscrew（8）, the ball-screw（8）Upper end and the shaft of motor be keyed, and the center of lower end is fixed with and passes through figure
As identification device and master controller（13）The camera of connection（15）, the ball-screw（8）The edge of lower end be hinged with
At least two openable and closable and opposite arc clips that are open（10）, the arc clip（10）Bottom end be fixed with cutter
Tool（14）.
5. cauliflower according to claim 4 selectively harvesting all-in-one machine, it is characterised in that：The cutting tool（14）For
Arc-like sheet, the arcwall face of the arc-like sheet are equipped with cutting edge.
6. cauliflower according to claim 5 selectively harvesting all-in-one machine, it is characterised in that：The sliding block（11）It is led with edge
Rail（7）The push rod consolidation of the electric pushrod of direction setting, the electric pushrod pass through switch and master controller（13）Electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721568709.7U CN207543659U (en) | 2017-11-22 | 2017-11-22 | Cauliflower selectively harvesting all-in-one machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721568709.7U CN207543659U (en) | 2017-11-22 | 2017-11-22 | Cauliflower selectively harvesting all-in-one machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207543659U true CN207543659U (en) | 2018-06-29 |
Family
ID=62680704
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721568709.7U Active CN207543659U (en) | 2017-11-22 | 2017-11-22 | Cauliflower selectively harvesting all-in-one machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207543659U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111328539A (en) * | 2020-04-08 | 2020-06-26 | 上海电机学院 | Self-propelled day lily picking machine |
| CN115211312A (en) * | 2022-06-27 | 2022-10-21 | 中国农业科学院都市农业研究所 | A synthesize management and control system for container formula farm is planted |
-
2017
- 2017-11-22 CN CN201721568709.7U patent/CN207543659U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111328539A (en) * | 2020-04-08 | 2020-06-26 | 上海电机学院 | Self-propelled day lily picking machine |
| CN115211312A (en) * | 2022-06-27 | 2022-10-21 | 中国农业科学院都市农业研究所 | A synthesize management and control system for container formula farm is planted |
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