CN207869805U - The automatic cultivation system of cucumber - Google Patents
The automatic cultivation system of cucumber Download PDFInfo
- Publication number
- CN207869805U CN207869805U CN201820227214.6U CN201820227214U CN207869805U CN 207869805 U CN207869805 U CN 207869805U CN 201820227214 U CN201820227214 U CN 201820227214U CN 207869805 U CN207869805 U CN 207869805U
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- wheel
- lifting
- driving
- cucumber
- trimming
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- 235000010799 Cucumis sativus var sativus Nutrition 0.000 title claims abstract description 73
- 244000299906 Cucumis sativus var. sativus Species 0.000 title abstract 2
- 238000003306 harvesting Methods 0.000 claims abstract description 49
- 238000009966 trimming Methods 0.000 claims abstract description 42
- 240000008067 Cucumis sativus Species 0.000 claims description 71
- 230000001360 synchronised effect Effects 0.000 claims description 65
- 238000003825 pressing Methods 0.000 claims description 18
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 12
- 229920000742 Cotton Polymers 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000004744 fabric Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 6
- 238000005520 cutting process Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 241000219112 Cucumis Species 0.000 description 2
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 description 2
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000018044 dehydration Effects 0.000 description 2
- 238000006297 dehydration reaction Methods 0.000 description 2
- 208000015181 infectious disease Diseases 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 241000345998 Calamus manan Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 241000237858 Gastropoda Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005485 electric heating Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013467 fragmentation Methods 0.000 description 1
- 238000006062 fragmentation reaction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000012950 rattan cane Nutrition 0.000 description 1
Landscapes
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
Abstract
The utility model discloses a kind of automatic cultivation systems of cucumber, including overarm brace, overarm brace both sides are connected with endless chain through actively annular sprocket wheel and driven annular sprocket wheel, on endless chain multiple bobbin winolers are arranged with by same intervals, bobbin winoler both sides center is equipped with the Ringlike double-layer track for being fixed on overarm brace lower end, bobbin winoler bottom is connected with press device through lifting rope, press device bottom is equipped with circular orbit, circular orbit side is equipped with presses hydraulic driver with what press device coordinated, cultivation bed is equipped in circular orbit, trimming harvest guide rail is equipped on the outside of circular orbit, trimming harvest guide rail is equipped with trimming harvesting robot.The utility model can substitute the pattern of original handwork, and have the characteristics that plantation efficiency and high degree of automation, plantation are high-quality.
Description
Technical field
The utility model is related to a kind of cultivation system, especially a kind of automatic cultivation system of cucumber.
Background technology
With the growth of social demand, China's green cucumber area also gradually increases, and large-scale plantation trend is apparent；But by
Had a single function mostly in conventional green cucumber equipment, make farmer can not be realized by single mechanical equipment to cucumber from
Dynamicization plantation, trimming and picking, so as to cause being trimmed at present to the side shoot of cucumber, losing leaf removal, harvest picking work still by people
Work is completed, the problem of causing high labor cost during green cucumber, great work intensity, and with the day of China's aging
Gradually serious, agriculture pursuer is even more constantly to reduce and very different, has seriously affected the plantation efficiency and plantation quality of cucumber,
It is difficult to meet the needs of public.Further, since cucumber is all made of greenhouse production at present and lifting rope climbs the planting type on edge, cause big
The planting type of the limitations of canopy or fixed cotton rope is unable to give full play the growth vigor of cucumber, and cucumber growth is caused to cultivate
The phenomenon that period is short, low output, further reduced the plantation quality of cucumber.Therefore, the existing planting patterns to cucumber exists
Plantation efficiency and the degree of automation are low, plant ropy problem.
Utility model content
The purpose of the utility model is to provide a kind of automatic cultivation systems of cucumber.It has plantation efficiency and automation
The feature that degree is high, plantation is high-quality.
The technical solution of the utility model：The automatic cultivation system of cucumber, including overarm brace, overarm brace both sides are through sprocket wheel
Fixing device is connected separately with actively annular sprocket wheel and driven annular sprocket wheel, is actively passed through on the outside of annular sprocket wheel and driven annular sprocket wheel
Endless chain is connected with each other, and multiple bobbin winolers are arranged with by same intervals on endless chain, and bobbin winoler both sides center is equipped with and is fixed on cross
The Ringlike double-layer track of boom support lower end, bobbin winoler side be equipped with eccentric setting rotational pin, Ringlike double-layer track be equipped with
The rectangular channel of rotational pin cooperation, bobbin winoler bottom are connected with press device through lifting rope, mutual through cotton rope between adjacent press device
Connection, press device bottom are equipped with circular orbit, and circular orbit side is equipped with presses hydraulic driver, ring with what press device coordinated
It is equipped with cultivation bed in shape track, trimming harvest guide rail is equipped on the outside of circular orbit, trimming harvest guide rail is equipped with trimming cropper
Device people；The trimming harvesting robot includes pedestal, and base bottom is equipped with multigroup first coordinated with trimming harvest guide rail and is oriented to
It takes turns, is provided with third driving motor and lever item through branch on pedestal, third driving motor one end is connected with eccentric wheel, eccentric wheel top
Portion is bonded to each other with lever bottom, compressed spring is equipped at the top of lever item, lever both ends are connected with lifting through fourth link
Guide wheel is connected with base deck above pedestal through mounting bracket, and base deck lower end is equipped with mechanical arm rotation unit, on base deck
End is connected with lifting crotch fixed plate through mechanical arm rotation unit, and lifting crotch dead plate upper end is connected with through lifting crotch component
Lifting seat bottom plate, lifting seat bottom plate are equipped with lifting shell, and the first mounting rod of lifting shell upper end is connected with first mechanical arm,
The second mounting rod of first mechanical arm upper end is connected with second mechanical arm, and second mechanical arm end is connected with folder through third mounting rod
Clipping device is held, lifting case inside is equipped with the motor fixing frame being fixed on lifting seat bottom plate, is set respectively on motor fixing frame
There are first driving means, the second driving device and third driving device.
It is described to include pressing driving motor, pressing driving electricity by hydraulic driver in the automatic cultivation system of cucumber above-mentioned
Machine one end is connected with the second eccentric wheel through a pair of orthogonal bevel gear, and the second eccentric wheel is equipped with first connecting rod, and first connects
Boom end is connected with second connecting rod, and second connecting rod lower end fixes on the ground, and second connecting rod upper end is connected with third connecting rod, third
Small end is connected with driving U-tube, and driving U-tube both sides are equipped with installation guide wheel, and installation guide wheel lower end, which is equipped with, is located at circular rails
Driving guide rail on road, driving U-tube both ends are connected with drive block through spring, and drive block side is equipped with block.
In the automatic cultivation system of cucumber above-mentioned, the trimming harvest guide rail includes the linear guide, and the linear guide both ends are set
It includes the arc panel being symmetricly set in the linear guide to have arc board group, arc board group, and the linear guide both sides are equipped with symmetrical ring
Shape guide rail, ring-shaped guide rail both ends are equipped with track pad, and backing plate spring is equipped between track pad and ring-shaped guide rail.
In the automatic cultivation system of cucumber above-mentioned, the lifting crotch component includes being disposed side by side on lifting crotch fixed plate
On crotch connection rod set, crotch connection rod set includes multiple sequentially connected crotch connecting rods, is mutually interconnected through cross bar between crotch connecting rod
It connects, cross bar is equipped with flexible electric cylinders.
In the automatic cultivation system of cucumber above-mentioned, the press device includes guide wheel fixed frame, and guide wheel fixed frame one end is set
There are the multiple guide wheels coordinated with circular orbit, the guide wheel fixed frame other end to be connected with pressing jaw, pressing jaw both ends bottom through connector
Portion is equipped with connecting rib, and the lifting rope connects press device through pressing jaw, and the cotton rope connects press device through connecting rib.
In the automatic cultivation system of cucumber above-mentioned, the chain wheel fixing device includes setting in actively annular sprocket wheel or driven
Rotation axis on the inside of annular sprocket wheel, rotation axis upper end are connected with fixed square tube, and fixed square tube both sides are connected with spiral shell through mobile holder
Rasp bar, threaded rod both ends are equipped with tensioner through fixed seat and installation cushion block connecting cross beam holder, the threaded rod of mobile holder side
Spring.
In the automatic cultivation system of cucumber above-mentioned, the clamping clipping device includes the connection being arranged on third mounting rod
Block, link block one end are connected with end clamping motor, and the link block other end is connected with rotation bevel gear and rotatable folder in turn
Holder holder, gripper brackets inside are equipped with connecting rod clamping group, and connecting rod clamping group one end is through turbine and worm connection end clamping electricity
Machine, gripper brackets side are connected with shear motor, and shear motor one end is through sequentially connected second active synchronization belt wheel, second
Synchronous belt and the second driven synchronous pulley are connected with the first lead screw, and the first lead screw end is connected with the second lead screw through shaft coupling, the
On one lead screw and the second lead screw symmetrically arranged electrical knife is connected with through feed screw nut.
In the automatic cultivation system of cucumber above-mentioned, the machinery arm rotation unit includes fixing bracket, fixing bracket both ends
There is a rotary shaft through flanged joint, be connected with the first driven synchronous pulley in the middle part of rotary shaft, through the on the outside of the first driven synchronous pulley
One synchronization band connection has the first active synchronization belt wheel, and the positioned at rotary shaft side the 4th is connected on the inside of the first active synchronization belt wheel
Driving motor, rotary shaft upper end connection lifting crotch fixed plate.
In the automatic cultivation system of cucumber above-mentioned, the endless chain surrounding is evenly distributed with multiple rotatable three bluff pieces,
Three bluff piece upper end connecting cross beam holders, three bluff piece lower ends are uniformly distributed there are three load-bearing pawl, one of load-bearing pawl upper end and ring
Shape chain bottom is bonded to each other.
In the automatic cultivation system of cucumber above-mentioned, rotating sprocket, rotating sprocket one are connected on the active annular sprocket wheel
End is connected with drive sprocket through chain, and the first driving motor is connected on the inside of drive sprocket.
In the automatic cultivation system of cucumber above-mentioned, between first directive wheel be equipped be disposed side by side on pedestal lower end from
Moving axis and drive shaft, driven shaft and drive shaft both ends are equipped with mobile wheel, and the driven tooth being connected with each other is equipped in the middle part of drive shaft
Wheel and differential mechanism, driven gear upper end are equipped with driving gear, and the second driving motor, the second driving electricity are connected on the inside of driving gear
Machine lower end is fixed on the base through holder.
In the automatic cultivation system of cucumber above-mentioned, the mounting bracket side is connected with harvest case, and harvest bottom portion surrounding is set
There are universal wheel, harvest case bottom centre to be equipped with the second directive wheel with trimming harvest guide rail cooperation.
In the automatic cultivation system of cucumber above-mentioned, the first driving means include first be mounted on motor fixing frame
Mechanical arm driving motor, first mechanical arm driving motor is through sequentially connected first mechanical arm synchronous belt driving wheel, the first machinery
Arm driving synchronous belt connects the first mounting rod with first mechanical arm synchronous belt driven wheel.
In the automatic cultivation system of cucumber above-mentioned, second driving device includes second be mounted on motor fixing frame
Mechanical arm driving motor, second mechanical arm driving motor is through sequentially connected second mechanical arm synchronous belt driving wheel, the second machinery
Arm connect synchronous belt, second mechanical arm duplex synchronous pulley, second mechanical arm driving synchronous belt and second mechanical arm synchronous belt from
Driving wheel connects the second mounting rod, and the second mechanical arm duplex synchronous pulley is arranged on the first mounting rod.
In the automatic cultivation system of cucumber above-mentioned, the third driving device includes being disposed side by side on motor fixing frame both sides
Clamping clipping device driving motor, clamping clipping device driving motor through sequentially connected clamping clipping device synchronous belt active
Wheel, the first clamping clipping device synchronous belt, the first clamping clipping device duplex synchronous pulley, the second clamping clipping device synchronize
Band, the second clamping clipping device duplex synchronous pulley, third clamping clipping device synchronous belt and clamping clipping device bevel gear connect
Clamping clipping device is connect, the first clamping clipping device duplex synchronous pulley is arranged on the first mounting rod, second folder
It holds clipping device duplex synchronous pulley to be arranged on the second mounting rod, the clamping clipping device bevel gear setting is installed in third
On bar, it is intermeshed with rotation bevel gear on the outside of clamping clipping device bevel gear.
Compared with prior art, the utility model can make the lifting rope on bobbin winoler by the cooperation of endless chain and bobbin winoler
It is moved horizontally along Ringlike double-layer track, can making bobbin winoler by the cooperation of rotational pin and rectangular channel, auto-extending is hung when moving
Rope, to which when cucumber stem seedling is grown at the top of lifting rope, system can make the cucumber stem seedling on lifting rope by the rotation of endless chain
It moves horizontally and declines, improve the growth result of cucumber stem seedling and the plantation quality of cucumber to the greatest extent, user can be with
The lifting rope extension elongation of bobbin winoler when moving is set by the spacing of rectangular channel, allows the extension elongation and bobbin winoler of lifting rope
Displacement distance keep unified, facilitate the collection of cucumber stem seedling and reduce the possibility that cucumber stem seedling is damaged when moving；It is logical
Crossing can be such that press device is moved horizontally along circular orbit by hydraulic driver, and lifting rope is made to keep vertical state when moving, lead to
The pressing jaw and connecting rib crossed on press device can play constraint and position-limiting action to the cucumber stem seedling after movement, prevent Huang
The lower end of melon vine seedling contacts with equipment after translation and causes to damage, and improves the work of the growth stability and device of cucumber stem seedling
Stability；By trimming the cooperation of harvesting robot and trimming harvest guide rail, allow trimming harvesting robot in cucumber stem seedling
Surrounding moves freely, and so that trimming harvesting robot is moved to as needed by the cooperation of lifting idler pulley and arc board group
Adjacent ring-shaped guide rail reduces cultivation to allow a trimming harvesting robot to be applied to multiple rows of cucumber stem seedling simultaneously
The production of system and operation cost；By lifting matching for crotch component, first mechanical arm, second mechanical arm and clamping clipping device
It closes, allows trimming harvesting robot in 4 degree of freedom to cucumber trimming and picking work, compared to what is manually trimmed and pick
Mode effectively increases working efficiency and reduces the labour cost of worker, high degree of automation；And each driving device is all provided with
It sets in mechanical arm, shadow caused by the occupied space of mechanical arm can be effectively reduced and prevent external dust from being rotated to mechanical arm
It rings, makes trimming harvesting robot that there is good job stability and service life；Pass through worm and gear and connecting rod clamping group
Cooperation can make connecting rod clamping group have the clamp distance of 35mm, rattan seedling can be effectively prevent to cut by the cutting mode of electrical knife
There is the phenomenon that dehydration or infection in disconnected place, further improves the planting effect of cucumber stem seedling.In addition, the utility model passes through drive
The cooperation of motion block and block can play press device the anti-effect retracted, and can be divided by chain wheel fixing device and three bluff pieces
It is other to play the role of tensioner and support to endless chain, it can be turned in trimming harvesting robot to avoid ring-shaped guide rail by track pad
To when obstruction, obstruction that can be to avoid track pad to directive wheel by backing plate spring makes the utility model have good
Job stability.So the utility model has the characteristics that plantation efficiency and high degree of automation, plantation are high-quality.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the A of Fig. 1 to diagram；
Fig. 3 is the B of Fig. 1 to diagram；
Fig. 4 is the C of Fig. 1 to diagram；
Fig. 5 is the structural schematic diagram by hydraulic driver；
Fig. 6 is the structural schematic diagram for trimming harvesting robot；
Fig. 7 is the structural schematic diagram of first driving means, the second driving device and third driving device；
Fig. 8 is the structural schematic diagram of three bluff pieces；
Fig. 9 is the structural schematic diagram that clipping device is clamped；
Figure 10 is the outline drawing of connecting rod clamping group.
Label in attached drawing be：1- overarm braces, 2- chain wheel fixing devices, the annular sprocket wheel of 3- actives, the driven endless chains of 4-
Wheel, 5- endless chains, 6- bobbin winolers, 7- Ringlike double-layer tracks, 8- lifting ropes, 9- press devices, 10- cotton ropes, 11- circular orbits, 12-
By hydraulic driver, 13-, which is trimmed, harvests guide rail, 14- trimming harvesting robots, 15- pedestals, the first directive wheels of 16-, and 17- is driven
Axis, 18- drive shafts, 19- mobile wheels, 20- differential mechanisms, 21- driving gears, the second driving motors of 22-, 23- holders, 24-
Three driving motors, 25- eccentric wheels, 26- lever items, 27- fourth links, 28- lifting idler pulleys, 29- mounting brackets, 30- base decks,
31- fixing brackets, 32- flanges, 33- rotary shafts, the first driven synchronous pulleys of 34-, the first synchronous belts of 35-, the first actives of 36- are same
Walk belt wheel, the 4th driving motors of 37-, 38- cultivation beds, 39- lifting crotch fixed plates, 40- lifting crotch components, 41- lifting seats
Bottom plate, 42- lift shell, the first mounting rods of 43-, 44- first mechanical arms, the second mounting rods of 45-, 46- second mechanical arms, 47-
Clipping device, 49- motor fixing frames, 50- first driving means, the second driving devices of 51-, 52- is clamped in third mounting rod, 48-
Third driving device, 53- machinery arm rotation units, 54- press driving motor, 55- bevel gears, 56- eccentric wheels, the companies of 57- first
Bar, 58- second connecting rods, 59- third connecting rods, 60- driving U-tubes, 61- installation guide wheels, 62- driving guide rails, 63- driven gears,
64- drive blocks, 65- blocks, tri- bluff pieces of 66-, 67- rotating sprockets, 68- chains, 69- drive sprockets, the first driving motors of 70-,
71- harvests case, 72- universal wheels, the second directive wheels of 73-, 74- first mechanical arm driving motors, 75- first mechanical arm synchronous belt masters
Driving wheel, 76- first mechanical arms driving synchronous belt, 77- first mechanical arm synchronous belt driven wheels, 78- second mechanical arm driving motors,
79- second mechanical arm synchronous belt driving wheels, 80- second mechanical arms connection synchronous belt, 81- second mechanical arm duplex synchronous pulleys,
82- second mechanical arms drive synchronous belt, 83- second mechanical arm synchronous belt driven wheels, 84- that clipping device driving motor, 85- is clamped
Clipping device synchronous belt driving wheel is clamped, clipping device synchronous belt is clamped in 86- first, and it is same that clipping device duplex is clamped in 87- first
Belt wheel is walked, clipping device synchronous belt is clamped in 88- second, and clipping device duplex synchronous pulley, the clamping of 90- thirds is clamped in 89- second
Clipping device bevel gear, 201- rotation axis is clamped in clipping device synchronous belt, 91-, and 202- fixes square tube, and 203- moves holder,
204- threaded rods, 205- fixed seats, 206- installation cushion blocks, 207- tensioner springs, 401- crotch connection rod sets, 4011- crotch connecting rods,
402- cross bars, 403- stretch electric cylinders, 601- rotational pins, 701- rectangular channels, 901- guide wheel fixed frames, 902- guide wheels, 903- connections
Part, 904- pressing jaw, 905- connecting ribs, 131- the linear guides, 132- arc board groups, 133- arc panels, 134- ring-shaped guide rails,
Motor, 483- gripper brackets, 484- connecting rods is clamped in 135- track pads, 136- backing plate springs, 481- link blocks, the ends 482-
Clamping group, 485- shear motors, the second active synchronization belt wheels of 486-, the second synchronous belts of 487-, the second driven synchronous pulleys of 488-,
The first lead screws of 489-, the second lead screws of 490-, 491- electrical knifes, 492- rotate bevel gear, 661- load-bearing pawls.
Specific implementation mode
The utility model is further described with reference to the accompanying drawings and examples, but is not intended as to the utility model
The foundation of limitation.
Embodiment.The automatic cultivation system of cucumber is constituted as shown in Figure 1, including overarm brace 1,1 both sides of overarm brace are through chain
Wheel fixing device 2 is connected separately with actively annular sprocket wheel 3 and driven annular sprocket wheel 4, actively annular sprocket wheel 3 and driven annular sprocket wheel
4 outsides are connected with each other through endless chain 5, are arranged with multiple bobbin winolers 6 by same intervals on endless chain 5,6 both sides center of bobbin winoler is set
There are the Ringlike double-layer track 7 for being fixed on 1 lower end of overarm brace, 6 side of bobbin winoler to be equipped with the rotational pin 601 of eccentric setting, annular
Double-layer track 7 is equipped with the rectangular channel 701 coordinated with rotational pin 601, and 6 bottom of bobbin winoler is connected with press device 9 through lifting rope 8,
It is connected with each other through cotton rope 10 between adjacent press device 9,9 bottom of press device is equipped with circular orbit 11,11 side of circular orbit
Equipped with hydraulic driver 12 is pressed with what press device 9 coordinated, cultivation bed 38 is equipped in circular orbit 11,11 outside of circular orbit is set
There are trimming harvest guide rail 13, trimming harvest guide rail 13 to be equipped with trimming harvesting robot 14；The trimming harvesting robot 14 wraps
Pedestal 15 is included, 15 bottom of pedestal is equipped with multigroup the first directive wheel 16 coordinated with trimming harvest guide rail 13, the first directive wheel 16 1
Side is equipped with movable sensor, is equipped with third driving motor 24 and lever item 26, third driving motor 24 through holder 23 on pedestal 15
One end is connected with eccentric wheel 25, and 25 top of eccentric wheel is bonded to each other with 26 bottom of lever item, and 26 top of lever item is equipped with compression bullet
Spring, compressed spring upper end connecting bracket 23,26 both ends of lever item are connected with lifting idler pulley 28,15 top of pedestal through fourth link 27
It is connected with base deck 30 through mounting bracket 29,30 lower end of base deck is equipped with mechanical arm rotation unit 53,30 upper end of base deck
It is connected with lifting crotch fixed plate 39 through mechanical arm rotation unit 53,39 upper end of lifting crotch fixed plate is through lifting crotch component 40
It is connected with lifting seat bottom plate 41, heave sensor is equipped in lifting crotch component 40, lifting seat bottom plate 41 is equipped with lifting shell
42, lifting 42 the first mounting rod of upper end 43 of shell is connected with first mechanical arm 44, the installation of 44 upper end second of first mechanical arm
Bar 45 is connected with second mechanical arm 46, and 46 end of second mechanical arm is connected with clamping clipping device 48 through third mounting rod 47, rises
42 inside of drop shell is equipped with the motor fixing frame 49 being fixed on lifting seat bottom plate 41, and first is respectively equipped on motor fixing frame 49
Driving device 50, the second driving device 51 and third driving device 52.
Described to include pressing driving motor 54 by hydraulic driver 12,54 one end of pressing driving motor is mutually perpendicular to through a pair
Bevel gear 55 be connected with the second eccentric wheel 56, the second eccentric wheel 56 is equipped with first connecting rod 57, the connection of 57 end of first connecting rod
There are second connecting rod 58,58 lower end of second connecting rod to fix on the ground, 58 upper end of second connecting rod is connected with third connecting rod 59, and third connects
59 upper end of bar is connected with driving U-tube 60, and 60 both sides of driving U-tube are equipped with installation guide wheel 61, and 61 lower end of installation guide wheel is equipped with position
In the driving guide rail 62 on circular orbit 11, driving 60 both ends of U-tube are connected with drive block 64 through spring, and 64 side of drive block is set
There are block 65, the driving U-tube 60 to be additionally provided with multiple limiting devices along 11 conveying direction side of circular orbit, limiting device
Structure is identical with the fit structure of drive block 64, block 65.
The trimming harvest guide rail 13 includes the linear guide 131, and 131 both ends of the linear guide are equipped with arc board group 132, arc
Board group 132 includes the arc panel 133 being symmetricly set in the linear guide 131, and 131 both sides of the linear guide are led equipped with symmetrical annular
Rail 134,134 both ends of ring-shaped guide rail are equipped with track pad 135, and backing plate bullet is equipped between track pad 135 and ring-shaped guide rail 134
Spring 136.
The lifting crotch component 40 includes the crotch connection rod set 401 being disposed side by side in lifting crotch fixed plate 39, fork
Frame connection rod set 401 includes multiple sequentially connected crotch connecting rods 4011, is connected with each other through cross bar 402 between crotch connecting rod 4011,
Cross bar 402 is equipped with flexible electric cylinders 403.
The press device 9 includes guide wheel fixed frame 901, and 901 one end of guide wheel fixed frame is equipped with to be coordinated with circular orbit 11
Multiple guide wheels 902,901 other end of guide wheel fixed frame is connected with pressing jaw 904,904 both ends bottom of pressing jaw through connector 903
Equipped with connecting rib 905, the lifting rope 8 connects press device 9 through pressing jaw 904, and the cotton rope 10 is connected through connecting rib 905
Press device 9.
The chain wheel fixing device 2 includes the rotation axis being arranged in actively annular sprocket wheel 3 or driven 4 inside of annular sprocket wheel
201,201 upper end of rotation axis is connected with fixed square tube 202, and fixed 202 both sides of square tube are connected with threaded rod through mobile holder 203
204,204 both ends of threaded rod are through fixed seat 205 and installation 206 connecting cross beam holder 1 of cushion block, the screw thread of 203 side of mobile holder
Bar 204 is equipped with tensioner spring 207.
The clamping clipping device 48 includes the link block 481 being arranged on third mounting rod 47, and 481 one end of link block connects
It is connected to end clamping motor 482,481 other end of link block is connected with rotation bevel gear 492 and rotatable clamper branch in turn
Frame 483,483 inside of gripper brackets are equipped with connecting rod clamping group 484, and 484 one end of connecting rod clamping group connects end through turbine and worm
Motor 482 is clamped, 483 side of gripper brackets is connected with shear motor 485, and 485 one end of shear motor is through sequentially connected the
Two active synchronization belt wheels 486, the second synchronous belt 487 and the second driven synchronous pulley 488 are connected with the first lead screw 489, first
489 end of bar is connected with the second lead screw 490 through shaft coupling, is connected with through feed screw nut on the first lead screw 489 and the second lead screw 490
Symmetrically arranged electrical knife 491.
The machinery arm rotation unit 53 includes fixing bracket 31, and 31 both ends of fixing bracket are connected with rotary shaft through flange 32
33,33 middle part of rotary shaft is connected with the first driven synchronous pulley 34, and 34 outside of the first driven synchronous pulley is through the first synchronous belt 35
It is connected with the first active synchronization belt wheel 36,36 inside of the first active synchronization belt wheel is connected with the 4 wheel driven positioned at 33 side of rotary shaft
Dynamic motor 37,33 upper end of rotary shaft connection lifting crotch fixed plate 39.
5 surrounding of the endless chain is evenly distributed with multiple rotatable three bluff pieces 66, three bluff pieces, 66 upper end connecting cross beam branch
Frame 1, three bluff pieces, 66 lower end are uniformly distributed there are three load-bearing pawl 661, one of 661 upper end of load-bearing pawl and 5 bottom phase of endless chain
Mutually fitting..
Rotating sprocket 67 is connected on the active annular sprocket wheel 3,67 one end of rotating sprocket is connected with driving through chain 68
Sprocket wheel 69,69 inside of drive sprocket are connected with the first driving motor 70.
The driven shaft 17 and drive shaft 18 for being disposed side by side on 15 lower end of pedestal are equipped between first directive wheel 16, it is driven
Axis 17 and 18 both ends of drive shaft are equipped with mobile wheel 19, and 18 middle part of drive shaft is equipped with the driven gear 63 and differential being connected with each other
Device 20,63 upper end of driven gear are equipped with driving gear 21, and 21 inside of driving gear is connected with the second driving motor 22, the second driving
22 lower end of motor is fixed on through holder 23 on pedestal 15.
29 side of the mounting bracket is connected with harvest case 71, and 71 bottom of harvest case is surrounded by universal wheel 72, harvests case 71
Bottom centre is equipped with the second directive wheel 73 coordinated with trimming harvest guide rail 13.
The first driving means 50 include be mounted on motor fixing frame 49 on first mechanical arm driving motor 74, first
Mechanical arm driving motor 74 is through sequentially connected first mechanical arm synchronous belt driving wheel 75,76 and of first mechanical arm driving synchronous belt
First mechanical arm synchronous belt driven wheel 77 connects the first mounting rod 43.
Second driving device 51 include be mounted on motor fixing frame 49 on second mechanical arm driving motor 78, second
Mechanical arm driving motor 78 through sequentially connected second mechanical arm synchronous belt driving wheel 79, second mechanical arm connection synchronous belt 80,
Second mechanical arm duplex synchronous pulley 81, second mechanical arm driving synchronous belt 82 and second mechanical arm synchronous belt driven wheel 83 connect
Second mounting rod 45, the second mechanical arm duplex synchronous pulley 81 are arranged on the first mounting rod 43.
The third driving device 52 includes being disposed side by side on the clamping clipping device driving electricity of 49 both sides of motor fixing frame
Machine 84, clamping clipping device driving motor 84 are repaiied through the clamping of sequentially connected clamping clipping device synchronous belt driving wheel 85, first
It cuts device synchronous belt 86, first and clipping device duplex synchronous pulley the 87, second clamping clipping device the 88, second folder of synchronous belt is clamped
Hold 91 connection clip of clipping device duplex synchronous pulley 89, third clamping clipping device synchronous belt 90 and clamping clipping device bevel gear
Clipping device 48 is held, the first clamping clipping device duplex synchronous pulley 87 is arranged on the first mounting rod 43, and described second
Clipping device duplex synchronous pulley 89 is clamped to be arranged on the second mounting rod 45, the setting of clamping clipping device bevel gear 91 exists
On third mounting rod 47,91 outside of clamping clipping device bevel gear is intermeshed with rotation bevel gear 492.
The operation principle of the utility model：By the cultivation of cucumber stem seedling after cultivation bed 38, cucumber stem seedling is along press device 9
Lifting rope 8 climb edge upwards, when cucumber stem seedling is grown to close to bobbin winoler 6, actively annular sprocket wheel 3 and driven annular sprocket wheel 4 revolve
Turn that endless chain 5 is driven to rotate, so that the bobbin winoler 6 on endless chain 5 is moved horizontally along Ringlike double-layer track 7, on chain wheel fixing device 2
Tensioner spring 207 can play the role of tensioner to endless chain 5, three bluff pieces 66 can play a supporting role to endless chain 5 and with
The cooperation rotation of endless chain 5, makes endless chain 5 have higher job stability；Bobbin winoler 6 makes rotational pin 601 along coiling after moving
The center of device 6 move in a circle make lifting rope 8 stretch out, to the cucumber stem seedling being wrapped on lifting rope 8 is played move horizontally and under
The effect of drop, rotational pin 601 can make lifting rope 8 stop stretching out during moving in a circle with the interference of Ringlike double-layer track 7, when
It can be rotated again after into rectangular channel 701 and continue to extend lifting rope, can set by the spacing of rectangular channel 701 thereby using family
The extension elongation for setting the lifting rope when moving of bobbin winoler 6, facilitates the moving stability and binding effect of cucumber stem seedling on lifting rope 8；It hangs
Rope 8 when moving, pressing driving motor 54 rotation and through bevel gear 55, eccentric wheel 56, first connecting rod 57, second connecting rod 58 and the
The cooperation of three-link 59 make driving U-tube 60 driving guide rail 62 on do stepping move through drive block 64 push press device
9 move horizontally on circular orbit 11, and the cooperation of drive block 64 and block 65 can play the role of anti-back to press device 9, drive
Spring on motion block 64 can make drive block 64 in fall back process by being depressed automatically after the promotion of follow-up press device 9, from
And limiting device is coordinated to realize the movement of stablizing of press device 9, drive the press device 9 in U-tube 60 to pass through line after movement
Rope 10 drives adjacent press device 9 to be moved horizontally successively, and press device 9 and the relative position of bobbin winoler 6 is enable to keep
Unanimously, the possibility that cucumber stem seedling is damaged when moving is reduced, the pressing jaw 904 on press device 9 can be to declining because of lifting rope 8
And the cucumber stem seedling fallen on circular orbit 11 plays the role of collection and constraint, and cucumber stem seedling is avoided to influence system after decline
The normal operation of system.For cucumber stem seedling in growth, trimming harvesting robot 14 passes through the first directive wheel 16 and trimming harvest guide rail
13 cooperation is moved freely in 11 surrounding of circular orbit, when trimming harvesting robot 14 is moved to 131 end of the linear guide, is repaiied
Cutting harvesting robot 14 can be such that lever item 26 is rotated on holder 23 to inclination by the cooperation of compressed spring and eccentric wheel 25
State, to make side lifting idler pulley 28 contact arc panel 133 after decline and drive trimming harvesting robot 14 toward accordingly
It is moved on ring-shaped guide rail 134, trimming harvesting robot 14 is allow to be suitable for trimming and the picking work of multiple rows of cucumber stem seedling simultaneously
Make, degree of freedom is high, production is low with operation cost；The movement of harvesting robot 14 is trimmed to adjust by lifting crotch component 40 afterwards in place
The high and low position of each mechanical arm rotates each mechanical arm by mechanical arm rotation unit 53, passes through first driving means 50
Pitching lifting is carried out to first mechanical arm 44, pitching lifting is carried out to second mechanical arm 46 by the second driving device 51, is passed through
Third driving device 52 rotates clamping clipping device 48, keeps trimming harvesting robot 14 right in 5 degree of freedom
Cucumber side shoot or cucumber are operated, and clamping clipping device 48 is enable to be moved to different location and angle on demand；Clamping is repaiied
Electric heating can be made by the cooperation of shear motor 485, the first lead screw 489, shaft coupling and the second lead screw 490 afterwards in place by cutting device 48
Knife 491 is separated from each other or closes up, and to play shear action to cucumber side shoot, the cutting mode of electrical knife 491 can prevent Huang
There is the problem of dehydration or infection in the cut-off part of melon vine seedling, improves the growth result of cucumber；Motor 482 and snail is clamped by end
The cooperation of worm and gear can make 484 pairs of cucumber of connecting rod clamping group realize clamping picking work, the clamping range of connecting rod clamping group 484
35mm or more can be reached, to which the cucumber suitable for different in width is won, connecting rod clamping group 484 can be direct after winning cucumber
It is put into harvest case 71, completes the collection work to cucumber and prevents cucumber from the case where falling fragmentation occur in picking.This reality
With the novel automatic cultivation that can be realized to cucumber stem seedling and work is picked, human assistance is not necessarily in the course of work, is reducing
Have the characteristics that plantation efficiency is high, plantation is high-quality while hand labor cost.
Claims (9)
1. the automatic cultivation system of cucumber, it is characterised in that：Including overarm brace (1), overarm brace (1) both sides are fixed through sprocket wheel and are filled
It sets (2) and is connected separately with actively annular sprocket wheel (3) and driven annular sprocket wheel (4), actively annular sprocket wheel (3) and driven annular sprocket wheel
(4) outside is connected with each other through endless chain (5), and multiple bobbin winolers (6), bobbin winoler (6) are arranged with by same intervals on endless chain (5)
Both sides center is equipped with the Ringlike double-layer track (7) for being fixed on overarm brace (1) lower end, and bobbin winoler (6) side is equipped with eccentric setting
Rotational pin (601), Ringlike double-layer track (7) is equipped with the rectangular channel (701) that coordinates with rotational pin (601), bobbin winoler (6) bottom
Portion is connected with press device (9) through lifting rope (8), is connected with each other through cotton rope (10) between adjacent press device (9), press device
(9) bottom is equipped with circular orbit (11), and circular orbit (11) side is equipped with presses hydraulic driver with what press device (9) coordinated
(12), it is equipped with cultivation bed (38) in circular orbit (11), trimming harvest guide rail (13) is equipped on the outside of circular orbit (11), trimming is received
It obtains guide rail (13) and is equipped with trimming harvesting robot (14)；The trimming harvesting robot (14) includes pedestal (15), pedestal
(15) bottom is equipped with multigroup the first directive wheel (16) coordinated with trimming harvest guide rail (13), is set through holder (23) on pedestal (15)
There are third driving motor (24) and lever item (26), third driving motor (24) one end to be connected with eccentric wheel (25), eccentric wheel
(25) top is bonded to each other with lever item (26) bottom, and compressed spring, lever item (26) both ends warp are equipped at the top of lever item (26)
Fourth link (27) is connected with lifting idler pulley (28), and pedestal (15) top is connected with base deck (30), bottom through mounting bracket (29)
Seat top plate (30) lower end is equipped with mechanical arm rotation unit (53), and base deck (30) upper end is connected through mechanical arm rotation unit (53)
There are lifting crotch fixed plate (39), lifting crotch fixed plate (39) upper end to be connected with lifting seat bottom plate through lifting crotch component (40)
(41), lifting seat bottom plate (41) is equipped with lifting shell (42), and lifting shell (42) the first mounting rod of upper end (43) is connected with
First mechanical arm (44), first mechanical arm (44) the second mounting rod of upper end (45) are connected with second mechanical arm (46), the second machine
Tool arm (46) end is connected with clamping clipping device (48) through third mounting rod (47), is equipped with and is fixed on the inside of lifting shell (42)
Motor fixing frame (49) on lifting seat bottom plate (41) is respectively equipped with first driving means (50), on motor fixing frame (49)
Two driving devices (51) and third driving device (52).
2. the automatic cultivation system of cucumber according to claim 1, it is characterised in that：It is described to include by hydraulic driver (12)
Driving motor (54) is pressed, pressing driving motor (54) one end is connected with the second bias through a pair of orthogonal bevel gear (55)
It takes turns (56), the second eccentric wheel (56) is equipped with first connecting rod (57), and first connecting rod (57) end is connected with second connecting rod (58), the
Two connecting rods (58) lower end fixes on the ground, and second connecting rod (58) upper end is connected with third connecting rod (59), on third connecting rod (59)
End is connected with driving U-tube (60), and driving U-tube (60) both sides are equipped with installation guide wheel (61), and installation guide wheel (61) lower end is equipped with
Driving guide rail (62) on circular orbit (11), driving U-tube (60) both ends are connected with drive block (64) through spring, drive
Block (64) side is equipped with block (65).
3. the automatic cultivation system of cucumber according to claim 1, it is characterised in that：The trimming harvests guide rail (13)
The linear guide (131), the linear guide (131) both ends are equipped with arc board group (132), and arc board group (132) includes being symmetricly set on
Arc panel (133) in the linear guide (131), the linear guide (131) both sides are equipped with symmetrical ring-shaped guide rail (134), and annular is led
Rail (134) both ends are equipped with track pad (135), and backing plate spring is equipped between track pad (135) and ring-shaped guide rail (134)
(136)。
4. the automatic cultivation system of cucumber according to claim 1, it is characterised in that：The lifting crotch component (40) includes
The crotch connection rod set (401) being disposed side by side in lifting crotch fixed plate (39), crotch connection rod set (401) include multiple connecting successively
The crotch connecting rod (4011) connect is connected with each other through cross bar (402) between crotch connecting rod (4011), and cross bar (402) is equipped with flexible
Electric cylinders (403).
5. the automatic cultivation system of cucumber according to claim 1, it is characterised in that：The press device (9) includes guide wheel
Fixed frame (901), guide wheel fixed frame (901) one end are equipped with the multiple guide wheels (902) coordinated with circular orbit (11), and guide wheel is fixed
Frame (901) other end is connected with pressing jaw (904) through connector (903), and pressing jaw (904) both ends bottom is equipped with connecting rib
(905), the lifting rope (8) connects through pressing jaw (904) connection press device (9), the cotton rope (10) through connecting rib (905)
Press device (9).
6. the automatic cultivation system of cucumber according to claim 1, it is characterised in that：The chain wheel fixing device (2) includes
Rotation axis (201) on the inside of actively annular sprocket wheel (3) or driven annular sprocket wheel (4) is set, and rotation axis (201) upper end is connected with
Fixed square tube (202), fixed square tube (202) both sides are connected with threaded rod (204), threaded rod (204) two through mobile holder (203)
End is through fixed seat (205) and installation cushion block (206) connecting cross beam holder (1), the threaded rod (204) of mobile holder (203) side
It is equipped with tensioner spring (207).
7. the automatic cultivation system of cucumber according to claim 1, it is characterised in that：The clamping clipping device (48) includes
The link block (481) being arranged on third mounting rod (47), link block (481) one end are connected with end clamping motor (482), even
It connects block (481) other end and is connected with rotation bevel gear (492) and rotatable gripper brackets (483), gripper brackets in turn
(483) inside is equipped with connecting rod clamping group (484), and motor is clamped through turbine and worm connection end in connecting rod clamping group (484) one end
(482), gripper brackets (483) side is connected with shear motor (485), and shear motor (485) one end is through sequentially connected
Two active synchronization belt wheels (486), the second synchronous belt (487) and the second driven synchronous pulley (488) are connected with the first lead screw
(489), the first lead screw (489) end is connected with the second lead screw (490), the first lead screw (489) and the second lead screw through shaft coupling
(490) on symmetrically arranged electrical knife (491) is connected with through feed screw nut.
8. the automatic cultivation system of cucumber according to claim 1, it is characterised in that：The machinery arm rotation unit (53) is wrapped
Fixing bracket (31) is included, fixing bracket (31) both ends are connected with rotary shaft (33) through flange (32), are connected in the middle part of rotary shaft (33)
There are the first driven synchronous pulley (34), the first driven synchronous pulley (34) outside to be connected with first actively through the first synchronous belt (35)
Synchronous pulley (36), the first active synchronization belt wheel (36) inside are connected with the 4th driving motor positioned at rotary shaft (33) side
(37), rotary shaft (33) upper end connection lifting crotch fixed plate (39).
9. the automatic cultivation system of cucumber according to claim 1, it is characterised in that：Endless chain (5) surrounding is uniformly divided
Multiple rotatable three bluff pieces (66) are furnished with, three bluff pieces (66) upper end connecting cross beam holder (1), three bluff pieces (66) lower end is uniformly divided
There are three load-bearing pawls (661) for cloth, and one of load-bearing pawl (661) upper end is bonded to each other with endless chain (5) bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820227214.6U CN207869805U (en) | 2018-02-08 | 2018-02-08 | The automatic cultivation system of cucumber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820227214.6U CN207869805U (en) | 2018-02-08 | 2018-02-08 | The automatic cultivation system of cucumber |
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| Publication Number | Publication Date |
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| CN207869805U true CN207869805U (en) | 2018-09-18 |
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ID=63497918
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820227214.6U Expired - Fee Related CN207869805U (en) | 2018-02-08 | 2018-02-08 | The automatic cultivation system of cucumber |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109348912A (en) * | 2018-12-12 | 2019-02-19 | 浙江省农业科学院 | The green plant culture apparatus of two-wheel cord pulling type |
| CN113197054A (en) * | 2021-03-22 | 2021-08-03 | 南京林业大学 | Ginkgo sapling growth and cultivation system |
-
2018
- 2018-02-08 CN CN201820227214.6U patent/CN207869805U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109348912A (en) * | 2018-12-12 | 2019-02-19 | 浙江省农业科学院 | The green plant culture apparatus of two-wheel cord pulling type |
| CN109348912B (en) * | 2018-12-12 | 2023-10-03 | 浙江省农业科学院 | Double-wheel rope-pulling type green plant culture device |
| CN113197054A (en) * | 2021-03-22 | 2021-08-03 | 南京林业大学 | Ginkgo sapling growth and cultivation system |
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