CN207544066U - Intelligent unattended honey harvester - Google Patents
Intelligent unattended honey harvester Download PDFInfo
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- CN207544066U CN207544066U CN201721528781.7U CN201721528781U CN207544066U CN 207544066 U CN207544066 U CN 207544066U CN 201721528781 U CN201721528781 U CN 201721528781U CN 207544066 U CN207544066 U CN 207544066U
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- honey
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- sliding rail
- gripper
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Abstract
The utility model is related to a kind of Intelligent unattended honey harvester, including pedestal（1）, the pedestal（1）Lower section is provided with controller（14）The traveling wheel of control（15）, the pedestal（1）On be provided with sliding rail（2）, the pedestal（1）Upper surface is provided with sliding rail（2）, the sliding rail（2）On by with sliding rail（2）The sliding block I of matching（3）It is sliding that have can be along sliding rail（2）The vertical upright bar slided（4）, the vertical upright bar（4）It is upper to slip that have be along vertical upright bar by sliding block II（4）The supporting rack of slip（8）, the supporting rack（8）On be equipped with to capture sweet spleen（29）Gripper（6）；The pedestal（1）On in gripper（6）Stroke range in be fixed with extraction case（5）.The utility model can complete the process of automatic intelligent honey harvesting, be conducive to improve beekeeper's working environment, improve honey harvest efficiency.
Description
Technical field
The utility model is related to agricultural machinery technical fields, and in particular to a kind of Intelligent unattended honey harvester.
Background technology
Honey nutritive value enriches, and has the function of nourishing Yin and moistening dryness, qi-restoratives moistening lung, removing toxic substances, coordinating the drug actions of a prescription, and taste is sweet
Sweet tea, it is suitable for people of all ages, liked by broad masses of the people.However, honey recovery process but very very complicated, needs to expend a large amount of
Manpower and materials, with the continuous improvement of the price of labour power, honey harvesting cost also increasingly increase.And honeybee is that one kind has
Strong aggressive insect, often by sting interior to a certain extent when beekeeper harvests honey, beekeeper's working environment is badly in need of improving.
In the prior art, the step of taking of simplified honey is had focused largely on, honey is improved and takes efficiency and improve honey
Extraction efficiency etc. from sweet spleen, however these technologies still need manually to extract sweet spleen, people in beehive after realizing
The mode of the sweet spleen of work extraction can not avoid disadvantages mentioned above.
Utility model content
The utility model in view of the deficiencies of the prior art, provides a kind of Intelligent unattended honey harvester, completes intelligence entirely certainly
The process of dynamic honey harvesting, is conducive to improve beekeeper's working environment, improves honey harvest efficiency.
The utility model is achieved by the following technical solution：
A kind of Intelligent unattended honey harvester is provided, including pedestal, controller control is provided with below the pedestal
The traveling wheel of system is provided with sliding rail on the pedestal, slips that have can edge on the sliding rail by the sliding block I to match with sliding rail
The vertical upright bar that sliding rail slides slips the supporting rack that has and can be slided along vertical upright bar by sliding block II in the vertical upright bar,
Gripper for capturing sweet spleen is installed on the supporting rack；It is fixed in the range of the shape journey of gripper on the pedestal
There is extraction case.
The gripper being fixed on supporting rack extracts sweet spleen, and vertical upright bar is adjusted on sliding rail by sliding block I
Front and back position and sliding block II adjust upper-lower position of the supporting rack in vertical upright bar, realize the level of gripper and vertical direction tune
Whole, the sweet spleen of extraction, which can be placed in extraction case, to be centrifuged, and obtains honey.
Further, inside casing rotatable and for storing sweet spleen, the inside casing packet are provided in the extraction case
It includes positioned at extraction case center and by centrifuging motor-driven rotary shaft, is radiated in the rotary shaft and be arranged with rotating frame；It is described
Extraction bottom portion storage box is connected with by connecting tube, be equipped with honey introducing storage box in the connecting tube
Straightway pump.
Sweet spleen is put into inside casing, and inside casing and sweet spleen rotating centrifugal, the honey that will be obtained are driven through motor driving rotary shaft
It is drawn into storage box and stored by straightway pump.
Further, the rotating frame is irony square frame and the middle part of the rotating frame side opposite with rotary shaft
The rotatable magnetic horizontal block in one end is hinged with, the extraction chamber interior wall is vertically and fixedly provided with to be in contact with the midpoint of magnetic horizontal block
Hook block.
Magnetic horizontal block is attracted when rotary shaft does not work with rotating frame side wall so that rotating frame is opened, convenient for placing honey
Spleen；When rotary shaft rotates, the magnetic horizontal block on rotating frame can be stirred in hook block of the rotation by extraction chamber interior wall by hook block
It is thrown away out of rotating frame so as to block sweet spleen.
Further, the walking mechanism includes traveling wheel, is equipped between the traveling wheel and is turned to for controlling
Differential mechanism, the driving motor of the traveling wheel is electrically connected with the controller being fixed on pedestal, and the controller passes through
WIFI communicates with host computer.
Traveling wheel can realize that steering is steady by differential mechanism adjusting, traveling wheel be driven to transport using controller control motor
It is dynamic, ensure the accuracy of stroke, convenient for adjusting chassis position, gripper is facilitated to carry out sweet spleen extraction.
Further, it is fixed with the ultrasonic sensor being electrically connected with the controller immediately ahead of the pedestal.
Ultrasonic sensor is used to detect the distance of chassis and beehive, and passes to controller, controls and goes convenient for controller
It walks wheel and moves to the extraction work for apart from beehive suitable position, facilitating gripper.
Further, the gripper includes two pawl arms to be opened/closed being hinged, and the pawl arm is hinged
The rear end of point is fixed with intermeshing and respectively by motor-driven gear, and the motor is electrically connected with the controller
It connects.
Instruction can be transmitted to controller in host computer, and the folding of gripper is realized in controller control motor-driven gear rotation,
Realize the extraction and storage to sweet spleen.
Preferably, being equipped with gravity sensor on the gripper, the gravity sensor is electrically connected with controller
It connects.
The sweet spleen weight of extraction and the weight of ripe sweet spleen can be compared by gravity sensor in the sweet spleen of extraction, when
When the sweet spleen weight of preceding extraction is more than or equal to setting value, extraction is completed；When the weight of the current sweet spleen of extraction is less than setting value, machinery
Sweet spleen is put back to beehive by pawl.
Further, be fixed with ranging camera head on the supporting rack, the ranging camera head by image at
Reason system is electrically connected with the controller.
Realtime graphic is transmitted to image processing system by ranging camera head, and in extraction process, sliding block I drives vertical upright bar
In front of row to beehive during setting value, gained signal is fed back to controller by image processing system, and stops vertical upright bar campaign；It is sliding
After block II drives the setting value that supporting rack moves up and down in vertical upright bar to above beehive, image processing system is anti-by gained signal
Controller is fed to, and stops the movement of supporting rack, and then realizes the positioning to beehive.
Preferably, being further fixed on air blower on the supporting rack, the air blower is electrically connected with the controller.
Air blower air blast blows off honeybee in beehive along bee road, and protection honeybee is simultaneously convenient for the extraction to sweet spleen.
The beneficial effects of the utility model：
First, it by mechanized operation, effectively solves the disadvantage that artificially collect sweet spleen cumbersome.
2nd, gripper is controlled by controller, completes the process of automatic intelligent honey harvesting, be conducive to improve
Beekeeper's working environment improves honey harvest efficiency.
3rd, ripe sweet spleen is detected by gravity sensor, ensures the extraction quality of sweet spleen.
4th, the sweet spleen of extraction is put into extraction case and is centrifuged, and obtained honey is entered in storage box and stored.
Description of the drawings
Fig. 1 is the structure diagram of the utility model；
Fig. 2 waits shaft side figures for the utility model；
Fig. 3 is in Fig. 11 structure diagram；
Fig. 4 is the bottom view of Fig. 1；
Fig. 5 is in Fig. 18 structure diagram；
Fig. 6 is in Fig. 16 structure diagram；
Fig. 7 is in Fig. 15 internal structure schematic diagram；
Fig. 8 is in Fig. 7 23 structure diagram；
Fig. 9 is in Fig. 7 25 structure diagram；
Figure 10 is the mating beehive structure diagram of the utility model；
Figure 11 is the sectional view of Figure 10；
Figure 12 is the circuit structure block diagram of the utility model.
Shown in figure：
1st, pedestal, 2, sliding rail, 3, sliding block I, 4, vertical upright bar, 5, extraction case, 6, gripper, 7, linear bearing, 8, support
Frame, 9, ranging camera head, 10, air blower, 11, block, 12, ultrasonic sensor, 13, storage box, 14, controller, 15, walking
Wheel, 16, groove, 17, installing port, 18, pawl arm, 19, gravity sensor, 20, gear, 21, centrifugation motor, 22, rotary shaft, 23,
Inside casing, 24, hook block, 25, rotating frame, 26, magnetic horizontal block, 27, handle, 28, beehive, 29, sweet spleen.
Specific embodiment
In order to clarify the technical characteristics of the invention, below by specific embodiment, this programme is illustrated.
A kind of Intelligent unattended honey harvester, including pedestal 1,1 lower section of pedestal is provided with controller 14 and controls
The traveling wheel 15 of system is equipped between the traveling wheel 15 for controlling the differential mechanism turned to, in the walking to mobile base 1
When being controlled, realize the driving motor of straight, described traveling wheel 15 and the control being fixed on pedestal 1 using PID control
Device 14 processed is electrically connected, and the controller 14 is communicated by WIFI with host computer, and beekeeper can be timely by other communication equipments
Harvesting behavior is monitored.
1 upper surface of pedestal is provided with sliding rail 2, in order to ensure the stability of device entirety, can be set on pedestal 1
A pair of parallel sliding rail 2 is put, being slipped on the sliding rail 2 by the sliding block I3 to match with sliding rail 2 has what can be slid back and forth along sliding rail 2
Vertical upright bar 4, the both ends of the sliding rail 2 are separately installed with the block 11 being fixed on pedestal 1, in the vertical upright bar 4
The supporting rack 8 that has and can be slided up and down along vertical upright bar 4 is slipped by sliding block II, the both ends of supporting rack 8 are separately fixed at two vertically
On sliding block II in upright bar 4, sliding block II could be provided as linear bearing 7, can be in pedestal for the ease of realizing automation control
1 and vertical upright bar 4 on fix driving device, sliding block I3 and supporting rack 8 is driven to move by controlling driving device.
As an embodiment of the present embodiment, driving device is respectively to be fixed on pedestal 1 to set along 2 direction of sliding rail
The electric pushrod I that puts and it is fixed on the electric pushrod II, electric pushrod I set in vertical upright bar 4 along vertical 4 direction of upright bar
Piston rod and sliding block I3 it is affixed, can push sliding block I3 that vertical upright bar 4 is driven to be moved along 2 direction of sliding rail, the work of electric pushrod II
Stopper rod and the linear bearing 7 being set in vertical upright bar 4 are affixed, and linear bearing 7 can be driven to drive supporting rack 8 along vertical upright bar 4
It moves in direction.
Above-mentioned electric pushrod I and electric pushrod II is electrically connected by control circuit with controller 14, and by controller 14
Control is opened and is stopped.
There are two for capturing the gripper 6 of sweet spleen 29, the gripper 6 includes two for installation on the supporting rack 8
A pawl arm 18 to be opened/closed being hinged, the pawl arm 18 are fixed with intermeshing in the rear end of hinge joint and pass through respectively
Motor-driven gear 20, the motor are electrically connected with the controller 14.
Be fixed with ranging camera head 9 on the supporting rack 8, the ranging camera head 9 by image processing system with
Controller 14 is electrically connected.9 visual angle of ranging camera head downward, is fixed on supporting rack 8 and positioned at the center of two grippers 6.It treats
When sliding block I3 drives 8 row of supporting rack to 28 top of beehive, gained signal is acquired by high-definition image, controller 14 is fed back, propped up
Support 8 stops moving ahead.Gripper 6 is detected to the position of beehive 28, and feed back to controller 14 by ranging camera head 9, for side
Just the extraction of honeycomb is equipped with handle 27 on beehive 28.Manipulator 6 is controlled by servo motor, controller 14 and control circuit, control
By being electrical connected between device 14 and servo motor processed.
Gravity sensor 19 is installed, the gravity sensor 19 is electrically connected with controller 14 on the gripper 6.
Controller 14 controls supporting rack 8 to move, and extracts sweet spleen 29 with reference to image processing system control machinery hand 6, is passed by gravity
Sensor 19 detects sweet 29 weight size of spleen.
Under normal circumstances, it is about 4 kilograms or so that full capping, which thickeies sweet spleen, when detecting sweet spleen weight the 70% of the weight
And the sweet spleen of maturation of capping can be regarded as above.
Extraction case 5 is fixed on the pedestal 1 in the range of the shape journey of gripper 6, is provided in the extraction case 5
Inside casing 23 rotatable and for storing sweet spleen 29, the inside casing 23 include being located at extraction 5 center of case and by centrifugation motor 21
The rotary shaft 22 of driving, centrifugation motor 21 select stepper motor, are radiated in the rotary shaft 22 and be arranged with rotating frame 25；Such as figure
Multiple sweet spleen storage compartments shown in 7, in inside casing 23 can be set, inside casing 23 is driven to rotate by stepping motor so that vacant honey
Spleen storage compartment is in parallel position with manipulator 7, for the sweet spleen that gripper 7 captures to be filled up entire inside casing 23.
The rotating frame 25 is hinged for the middle part of irony square frame and the side opposite with rotary shaft 22 of rotating frame 25
There is the rotatable magnetic horizontal block 26 in one end, extraction 5 inner wall of case is vertically and fixedly provided with to connect with the midpoint of magnetic horizontal block 26
Tactile hook block 24.
Magnetic horizontal block 26 is attracted so that rotating frame 25 is opened, and is convenient for when rotary shaft 22 does not work with 25 side wall of rotating frame
Place sweet spleen 29；When rotary shaft 22 rotates, the magnetic horizontal block 26 on rotating frame 25 is in rotation by the hook block of extraction 5 inner wall of case
When 24, it can be stirred by hook block 24 and be thrown away out of rotating frame 25 so as to block sweet spleen 29.
In order to ensure stability, the groove 16 to match with 5 bottom surface of extraction case is opened up on pedestal 1, is embedded in for case 5 will to be extracted
Onto pedestal 1.
Storage box 13 is further fixed on the pedestal 1, the storage box 13 is connected by connecting tube with extraction case 5,
Straightway pump for honey to be introduced to storage box 13 is installed in the connecting tube.Storage box 13 is barrel-shaped, passes through installing port
17 are detachably arranged on pedestal 1.
1 front of pedestal is fixed with the ultrasonic sensor 12 being electrically connected with controller 14.Preferably, ultrasonic wave
12 electrical parameter of sensor may be configured as DC12V, 12W.
After beehive 28 is uncapped, air blower 10 is controlled to be blown along bee road by controller 14, honeybee is fallen into beehive 28.When
Can also so other prior art means be used to substitute, for example drive bee fogging machine.
The control method of above-mentioned Intelligent unattended honey harvester, includes the following steps：
Step 1: controller 14 controls the driving motor of 1 lower section traveling wheel 15 of pedestal, it is real-time using ultrasonic sensor 12
The vertical range D between beehive 28 and pedestal 1 is monitored, when D is 30cm, 15 stop motion of traveling wheel.
Step 2: realtime graphic is transmitted to image processing system by the ranging camera head 9 on supporting rack 8, controller 14 is controlled
When sliding block I3 processed drives vertical 4 row of upright bar to 28 front setting value of beehive, gained signal is fed back to control by image processing system
Device 14, and stop vertical upright bar 4 and move, controller 14 controls linear bearing 7 that supporting rack 8 is driven to move up and down in vertical upright bar 4
To 28 case lid plane of beehive, gained signal is fed back to controller 14 by image processing system, and stops the movement of supporting rack 8, into
And realize the positioning to beehive 28.
Step 3: the rotation of motor driven gear 20 realizes gripper 6 to 28 case lid of beehive in 14 control machine machinery claw 6 of controller
It is captured, and opens case lid；Controller 14 controls 10 air blast of air blower to drive honeybee afterwards and closes air blower 10.
Step 4: controller 14 controls supporting rack 8 that gripper 6 is driven to be displaced downwardly at sweet spleen 29, control machine machinery claw 6 is to sweet spleen
29 are captured, and the gravity sensor 19 on gripper 6 can be in the sweet spleen 29 of extraction, by 29 weight of sweet spleen of extraction and maturation honey
The weight of spleen is compared, 29 weight of sweet spleen currently extracted be more than or equal to setting value 70% and it is above when, controller 14 controls
Gripper 6 captures sweet spleen 29, and controller 14 is moved to by positioning of the image processor to 5 position of extraction case, control supporting rack 8
5 top of extraction case simultaneously falls into sweet spleen 29 in extraction case 5；When the weight of the current sweet spleen 29 of extraction is less than the 70% of setting value, machinery
Sweet spleen 29 is put back to beehive 28 and will be on beehive lid by pawl 6.
Step 5: the control centrifugation motor 21 of controller 14 rotates, honey is come off from sweet spleen 29, in the effect of straightway pump
Under, honey is introduced from connecting tube in storage box 13.
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 (8)
1. a kind of Intelligent unattended honey harvester, it is characterised in that：Including pedestal（1）, the pedestal（1）Lower section is provided with logical
Cross controller（14）The traveling wheel of control（15）, the pedestal（1）On be provided with sliding rail（2）, the sliding rail（2）On pass through
With sliding rail（2）The sliding block I of matching（3）It is sliding that have can be along sliding rail（2）The vertical upright bar slided（4）, the vertical upright bar（4）On
Slip that have can be along vertical upright bar by sliding block II（4）The supporting rack of slip（8）, the supporting rack（8）On be equipped with to grab
Take sweet spleen（29）Gripper（6）；The pedestal（1）On in gripper（6）Stroke range in be fixed with extraction case（5）.
2. Intelligent unattended honey harvester according to claim 1, it is characterised in that：The extraction case（5）Interior setting
Have rotatable and be used to store sweet spleen（29）Inside casing（23）, the inside casing（23）Including being located at extraction case（5）Center and by
Centrifuge motor（21）The rotary shaft of driving（22）, the rotary shaft（22）Upper radiation is arranged with rotating frame（25）；Described carries
Take case（5）Bottom is connected with storage box by connecting tube（13）, it is equipped in the connecting tube to store for honey to be introduced
Case（13）Straightway pump.
3. Intelligent unattended honey harvester according to claim 2, it is characterised in that：The rotating frame（25）For irony
Square frame and rotating frame（25）With rotary shaft（22）The rotatable magnetic horizontal block in one end is hinged in the middle part of opposite side
（26）, the extraction case（5）Inner wall is vertically and fixedly provided with and magnetic horizontal block（26）The hook block that is in contact of midpoint（24）.
4. Intelligent unattended honey harvester according to claim 3, it is characterised in that：The pedestal（1）Front is consolidated
Surely have and controller（14）The ultrasonic sensor of electrical connection（12）.
5. Intelligent unattended honey harvester according to claim 4, it is characterised in that：The gripper（6）Including two
A pawl arm to be opened/closed being hinged（18）, the pawl arm（18）Intermeshing and difference are fixed in the rear end of hinge joint
Pass through motor-driven gear（20）, the motor and controller（14）Electrical connection.
6. Intelligent unattended honey harvester according to claim 5, it is characterised in that：The gripper（6）Upper installation
There is gravity sensor（19）, the gravity sensor（19）With controller（14）Electrical connection.
7. Intelligent unattended honey harvester according to claim 6, it is characterised in that：The supporting rack（8）Upper fixation
There is ranging camera head（9）, the ranging camera head（9）Pass through image processing system and controller（14）Electrical connection.
8. Intelligent unattended honey harvester according to claim 7, it is characterised in that：The supporting rack（8）On it is also solid
Surely there is air blower（10）, the air blower（10）With controller（14）Electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721528781.7U CN207544066U (en) | 2017-11-16 | 2017-11-16 | Intelligent unattended honey harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721528781.7U CN207544066U (en) | 2017-11-16 | 2017-11-16 | Intelligent unattended honey harvester |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207544066U true CN207544066U (en) | 2018-06-29 |
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ID=62680269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721528781.7U Active CN207544066U (en) | 2017-11-16 | 2017-11-16 | Intelligent unattended honey harvester |
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| Country | Link |
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| CN (1) | CN207544066U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107736276A (en) * | 2017-11-16 | 2018-02-27 | 山东农业大学 | Intelligent unattended honey harvester and its control method |
-
2017
- 2017-11-16 CN CN201721528781.7U patent/CN207544066U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107736276A (en) * | 2017-11-16 | 2018-02-27 | 山东农业大学 | Intelligent unattended honey harvester and its control method |
| CN107736276B (en) * | 2017-11-16 | 2023-01-06 | 山东农业大学 | Intelligent unmanned honey harvester and control method thereof |
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