CN208079835U - A kind of Chinese cabbage picking collection all-in-one machine - Google Patents
A kind of Chinese cabbage picking collection all-in-one machine Download PDFInfo
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- CN208079835U CN208079835U CN201820097526.XU CN201820097526U CN208079835U CN 208079835 U CN208079835 U CN 208079835U CN 201820097526 U CN201820097526 U CN 201820097526U CN 208079835 U CN208079835 U CN 208079835U
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- chinese cabbage
- picking vehicle
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Abstract
It is picked the utility model is related to a kind of Chinese cabbage and collects all-in-one machine, belong to agricultural mechanical field.The utility model includes manipulator, picking vehicle；Photographic device, display, laser sensor, range sensor, shear are provided on picking vehicle, photographic device is connect with display；Manipulator, laser sensor, range sensor, lifting gear, water pump are connected with control device；Shear is provided with square aperture conveyer belt, camera bellows I, camera bellows II, the first bifurcated pipe, the second bifurcated pipe at the top of picking vehicle, water pump is provided on first bifurcated pipe on lifting gear moving up and down；Picking vehicle is provided with water tank, and first bifurcated pipe is connect with water tank, and picking vehicle is provided with air-heater, and air-heater is connect with the second bifurcated pipe；Picking vehicle tail portion is provided with off-loadable collection frame.The utility model solves the problems such as low artificial picking efficiency, cumbersome, heavy workload, and the utility model has the automatization level of higher automatic picking, cleaning and collection.
Description
Technical field
It is picked the utility model is related to a kind of Chinese cabbage and collects all-in-one machine, belong to agricultural machinery technological field.
Background technology
Chinese cabbage is as essential a kind of vegetables in our daily life diet and is liked deeply by consumers in general,
In China, winter is big, and Chinese cabbage is even more the regular guest on dining table, therefore has saying for " winter Chinese cabbage U.S. such as bamboo shoot ".Chinese cabbage has higher nutrition
Value, rich in having the minerals such as protein, fat, multivitamin and calcium, phosphorus and a large amount of crude fibres, for stewing, frying, it is leavened,
Mix and cook filling, garnishes can.Especially Chinese cabbage contains compared with Multivitamin, with meat with eating, can not only increase the delicious taste of meat, but also
It can reduce the nitrite and nitrite substance in meat, reduce the generation of carcinogen inferior ammonium nitrate, there is that " hundred dishes are not as good as white
The saying of dish ".
The Chinese cabbage vegetables one of important as China, international market is with very big consumption potentiality at home.Cultivated area
Increase with sustained production, but the picking of Chinese cabbage is many or based on manually picking, manually pick it is fairly time consuming laborious, and
Efficiency is very low.Since Chinese cabbage for a long time in the ground, often expose to the weather, attach many sundries and microorganism by growth, pick
When vegetable surface can be stained with a little soil.In addition, picking manually to wash, and it is especially cumbersome, and the root of Chinese cabbage is thicker,
Go to cut with general scissors relatively elaborate, efficiency is low.Therefore, how to solve these problems tool has very important significance.
Invention content
The technical problems to be solved in the utility model is：The utility model provides a kind of Chinese cabbage picking collection one
Machine, solves the problems such as low artificial picking efficiency, cumbersome, heavy workload, and the utility model has higher automatic picking, cleaning
With the automatization level of collection.
Technical solutions of the utility model are：A kind of Chinese cabbage picking collection all-in-one machine, including manipulator 15, picking vehicle 1；
The manipulator 15 and control device 20 connect；
The headstock of the picking vehicle 1 is provided with photographic device 12, and display 19, photographic device are provided with picking vehicle 1
12 signal output end is connect with the signal input part of display 19；
1 bottom of the picking vehicle is provided with laser sensor 8, range sensor 7, and picking vehicle 1 is provided with control dress
Set 20, laser sensor 8, range sensor 7 signal output end connect with the signal input part of control device 20；
1 headstock of the picking vehicle is provided with shear for cutting off the root of Chinese cabbage, and shear is mounted in can be upper and lower
On mobile lifting gear 9, to reach the shearing of different height, lifting gear 9 is connect with control device 20；
The top of the picking vehicle 1 is provided with square aperture conveyer belt 21, camera bellows I 22, camera bellows II 24, the first bifurcated pipe 5, the
Bifurcated pipe 3 is provided with fixed strip 25 in two camera bellows, for fixing bifurcated pipe, water pump is provided on first bifurcated pipe 5
23, the signal input part of water pump 23 is connect with the signal output end electric signal of control device 20；
1 bottom of the picking vehicle is provided with water tank 6, and first bifurcated pipe 5 is connect with 6 pipe of water tank, 1 middle part setting of picking vehicle
There are air-heater 4, the signal input part of air-heater 4 to be connect with the signal output end electric signal of control device 20, the output of air-heater 4
End is connect with the input end pipe of the second bifurcated pipe 3；
1 tail portion of the picking vehicle is provided with off-loadable collection frame 31, and draw ring 30 is provided in off-loadable collection frame 31, picking
1 tail portion of vehicle is provided with the pedestal 14 with sliding slot, and off-loadable collection frame 31 can horizontally slip on the pedestal 14 with sliding slot.
The pedestal 14 with sliding slot is bolted on 1 tail portion of picking vehicle, and it is sliding that off-loadable collection frame 31 is assembled in band
On the pedestal 14 of slot, water tank 6 is bolted on 1 bottom of picking vehicle, and first 5 one end of bifurcated pipe is connect with 6 pipe of water tank, separately
One end is fixed on by fixed strip 25 in camera bellows I 22, and second 3 one end of bifurcated pipe is connect with 4 pipe of air-heater, and the other end passes through solid
Determine item 25 to be fixed in camera bellows II 24, air-heater 4 is directly anchored to 1 bottom of picking vehicle, and square aperture conveyer belt 21 passes through support
Frame 26 is fixed on 1 top of picking vehicle.
The headstock in picking vehicle 1 is arranged in the first mechanical arm 16 of the manipulator 15, and the setting of rotating arm 18 is in the first machinery
On arm 16, the other end of manipulator 15 is provided with gripper 13.
13 inside of the gripper is equipped with air bag 27, is not easy to be pinched for working as a buffer protection Chinese cabbage.
13 inside of the gripper is provided with pressure sensor 29, and Chinese cabbage process folder is being clamped for detecting gripper 13
The signal output end of the size variation of clamp force, pressure sensor 29 is electrically connected with the input terminal of 20 signal of control device.
The shear includes supporting small electric saw arm 10, small-sized electric saw 11, small machine 28, small-sized electric saw 11 directly with it is small
28 axis connection of motor, 28 signal input part of small machine are connect with the output end of control device 20, small-sized electric saw 11 and the small electricity of support
Saw arm 10 can move up and down, lifting gear 9 is connect with control device 20 on lifting gear 9.
31 inner wall of off-loadable collection frame is arc-shaped, for preventing Chinese cabbage from being caused pair when entering off-loadable collection frame
Its cauline leaf damages.
Non-skid tyre 2, chair 17 are provided on the picking vehicle 1.
The lifting gear 9 drives chain lifting to realize using motor, and chain one end connects motor, other end connection lifting
The scroll wheel of device, motor are connect with control device 20.
The utility model has the beneficial effects that：
1, the utility model, which is provided with photographic device, can play picture catching to Chinese cabbage, make staff more clear in the car
Target is intuitively seen by Chu, it is ensured that operation is more accurate.
2, it can play the role of being oriented to using laser sensor and to Chinese cabbage accurate positionin, improve picking accuracy.
3, the cut mode of picking Chinese cabbage is no longer common knife or scissors, but uses small-sized electric saw, more effortless in this way,
Play that protect root not cut bad.
4, for small-sized electric saw on lifting gear, picking car bottom is equipped with distance measuring sensor, to by controlling automatic control
Device processed adjusts the appropriate cutting position of small-sized electric saw, plays the part that can basset according to Chinese cabbage root in picking and carries out standard
True cutting avoids the other parts of cut wound Chinese cabbage.
5, be provided with air bag inside gripper, can play when gripper during clamping Chinese cabbage since power is excessive and
Cause the cauline leaf of damage Chinese cabbage.
6, cleaning and drying unit are provided on picking vehicle, cleaning device can be by soil, microorganism for being attached on Chinese cabbage etc.
Sundries washes.Drying unit further dries the well Chinese cabbage of cleaning, and play to preserve for a long time, not perishable
Effect.
7, the wheel of this picking vehicle is using the wheel for having deeper anti-slop serrations, to adapt to diluter vegetable plot, plays and is not easy to beat
Sliding effect.
8, conveyer belt is using perhaps lacunary conveyer belt is uniformly distributed, so that in cleaning process, water can be more
Well across conveyer belt, more water is allowed to touch Chinese cabbage：During the drying process, the aperture of conveyer belt successfully can allow hot wind to wear
Conveyer belt is crossed, to achieve the purpose that drying.
Description of the drawings
Fig. 1 is the utility model general construction schematic diagram；
Fig. 2 is the utility model gripper structural schematic diagram；
Fig. 3 is the structural schematic diagram of the small-sized electric saw of the utility model；
Fig. 4 is the lifting device structure schematic diagram of the utility model；
Fig. 5 is the square aperture conveyer belt schematic diagram of the utility model.
Each label in Fig. 1-5：1- picking vehicles, 2- non-skid tyres, the second bifurcated pipes of 3-, 4- air-heaters, the first bifurcated pipes of 5-,
6- water tanks, 7- range sensors, 8- laser sensors, 9- lifting gears, 10- support small electric saw arm, the small-sized electric saws of 11-, 12- to take the photograph
As the pedestal of device, 13- grippers, 14- with sliding slot, 15- manipulators, 16- first mechanical arms, 17- chairs, 18- rotating arms,
19- displays, 20- control devices, 21- square apertures conveyer belt, 22- camera bellows I, 23- water pumps, 24- camera bellows II, 25- fixed strips,
26- supporting racks, 27- air bags, 28- small machines, 29- pressure sensors, 30- draw rings, the off-loadable collection frames of 31-.
Specific implementation mode
Utility model will be further explained below with reference to the attached drawings and specific embodiments.
Embodiment 1：As shown in Figs. 1-5, all-in-one machine, including manipulator 15, picking vehicle 1 are collected in a kind of Chinese cabbage picking；
The manipulator 15 and control device 20 connect；
The headstock of the picking vehicle 1 is provided with photographic device 12, and display 19, photographic device are provided with picking vehicle 1
12 signal output end is connect with the signal input part of display 19；
1 bottom of the picking vehicle is provided with laser sensor 8, range sensor 7, and picking vehicle 1 is provided with control dress
Set 20, laser sensor 8, range sensor 7 signal output end connect with the signal input part of control device 20；
1 headstock of the picking vehicle is provided with shear for cutting off the root of Chinese cabbage, and shear is mounted in can be upper and lower
On mobile lifting gear 9, to reach the shearing of different height, lifting gear 9 is connect with control device 20；
The top of the picking vehicle 1 is provided with square aperture conveyer belt 21, camera bellows I 22, camera bellows II 24, the first bifurcated pipe 5, the
Bifurcated pipe 3 is provided with fixed strip 25 in two camera bellows, for fixing bifurcated pipe, water pump is provided on first bifurcated pipe 5
23, the signal input part of water pump 23 is connect with the signal output end electric signal of control device 20；
1 bottom of the picking vehicle is provided with water tank 6, and first bifurcated pipe 5 is connect with 6 pipe of water tank, 1 middle part setting of picking vehicle
There are air-heater 4, the signal input part of air-heater 4 to be connect with the signal output end electric signal of control device 20, the output of air-heater 4
End is connect with the input end pipe of the second bifurcated pipe 3；
1 tail portion of the picking vehicle is provided with off-loadable collection frame 31, and draw ring 30 is provided in off-loadable collection frame 31, picking
1 tail portion of vehicle is provided with the pedestal 14 with sliding slot, and off-loadable collection frame 31 can horizontally slip on the pedestal 14 with sliding slot.
Further, the pedestal 14 with sliding slot is bolted on 1 tail portion of picking vehicle, 31 groups of off-loadable collection frame
On the pedestal 14 with sliding slot, water tank 6 is bolted on 1 bottom of picking vehicle, first 5 one end of bifurcated pipe and water tank 6
Pipe connects, and the other end is fixed on by fixed strip 25 in camera bellows I 22, and second 3 one end of bifurcated pipe is connect with 4 pipe of air-heater, separately
One end is fixed on by fixed strip 25 in camera bellows II 24, and air-heater 4 is directly anchored to 1 bottom of picking vehicle, square aperture conveyer belt
21 are fixed on 1 top of picking vehicle by supporting rack 26.
Further, the headstock in picking vehicle 1 is arranged in the first mechanical arm 16 of the manipulator 15, and the setting of rotating arm 18 exists
In first mechanical arm 16, the other end of manipulator 15 is provided with gripper 13.
Further, 13 inside of the gripper is equipped with air bag 27, is not easy for working as a buffer protection Chinese cabbage
It is pinched.
Further, 13 inside of the gripper is provided with pressure sensor 29, is being clamped greatly for detecting gripper 13
The input terminal of the size variation of Chinese cabbage process clamping force, the signal output end and 20 signal of control device of pressure sensor 29 is electrically connected
It connects.
Further, the shear includes supporting small electric saw arm 10, small-sized electric saw 11, small machine 28, small-sized electric saw
11 directly with 28 axis connection of small machine, and 28 signal input part of small machine connect with the output end of control device 20, small-sized electric saw 11
It can be moved up and down, lifting gear 9 is connect with control device 20 on lifting gear 9 with small electric saw arm 10 is supported.
Further, 31 inner wall of off-loadable collection frame is arc-shaped, for preventing Chinese cabbage from entering off-loadable collection
It causes to damage its cauline leaf when frame.
Further, non-skid tyre 2, chair 17 are provided on the picking vehicle 1.
Further, the lifting gear 9 drives chain lifting to realize using motor, and chain one end connects motor, another
The scroll wheel of end connection lifting gear, motor are connect with control device 20.
The course of work of the utility model is：
It is described picking with collect integrated vehicle, staff by control device 20 allow laser sensor 8 carry out to target into
Row is oriented to and positioning.Meanwhile taken scenery light image is changed by electric signal by photographic device 12 and is transmitted to display
On 19, obtained data information is transferred to as electronic signals on display 19 by range sensor 7.Then, work
Make personnel by control device 20 carry out control lifting gear 9 carry out picking Chinese cabbage to adjust 11 height of small-sized electric saw（Wherein rise
Falling unit 9 may be used motor and chain lifting driven to realize）, staff passes through 20 manipulator 15 of control device, machine again
Tool hand 15 is carried out driving gripper 13 in a manner of air pressure and captures Chinese cabbage, clamps, when pressure sensor 29 detects folder
Gripper 13 is not just clamping when clamp force reaches the power that Chinese cabbage is born, further through 20 control machinery hand 15 of control device by Chinese cabbage
It is transferred on the square aperture conveyer belt 21 at 1 top of picking vehicle.At this point, control device 20 controls water pump 23 and air-heater 4, water pump
23 by water from water tank 6 send on the first bifurcated pipe 5 to complete to clean.Then air-heater 4 reaches hot gas on the second bifurcated pipe 3
End reaches the drying for complete more vegetables in camera bellows II 24, and camera bellows I 22 can prevent aqueous splashes, reach and make full use of water
Resource is avoided in the purpose at waste, and camera bellows II 24 can prevent scattering and disappearing for hot gas, is played and is made full use of hot gas, fully dry work
With.Finally, vegetables enter through rectangular foraminous belt 21 in off-loadable collection frame 31.Finally, staff passes through off-loadable receipts
Draw ring 30 on collection frame 31 unloads it from picking vehicle 1, changes another same off-loadable collection frame 31, can hold
Continuous circulating collection, wherein control device may be used microcontroller, computer or PLC and go to realize above-mentioned function.
Specific embodiment of the utility model is explained in detail above in conjunction with attached drawing, but the utility model and unlimited
In above-described embodiment, within the knowledge of a person skilled in the art, the utility model can also not departed from
Various changes can be made under the premise of objective.
Claims (9)
1. all-in-one machine is collected in a kind of Chinese cabbage picking, it is characterised in that：Including manipulator（15）, picking vehicle（1）；
The manipulator（15）And control device（20）Connection；
The picking vehicle（1）Headstock be provided with photographic device（12）, picking vehicle（1）It is provided with display with it（19）, camera shooting
Device（12）Signal output end and display（19）Signal input part connection；
The picking vehicle（1）Head bottom is provided with laser sensor（8）, range sensor（7）, picking vehicle（1）Head is provided with control
Device processed（20）, laser sensor（8）, range sensor（7）Signal output end and control device（20）Signal input part
Connection；
The picking vehicle（1）Headstock is provided with shear for cutting off the root of Chinese cabbage, shear mounted in can on move down
Dynamic lifting gear（9）On, to reach the shearing of different height, lifting gear（9）With control device（20）Connection；
The picking vehicle（1）Top is provided with square aperture conveyer belt（21）, camera bellows I（22）, camera bellows II（24）, the first bifurcated pipe
（5）, the second bifurcated pipe（3）, fixed strip is provided in two camera bellows（25）, for fixing bifurcated pipe, first bifurcated pipe（5）On
It is provided with water pump（23）, water pump（23）Signal input part and control device（20）Signal output end electric signal connection；
The picking vehicle（1）Bottom is provided with water tank（6）, first bifurcated pipe（5）With water tank（6）Pipe connects, picking vehicle（1）In
Portion is provided with air-heater（4）, air-heater（4）Signal input part and control device（20）Signal output end electric signal connection,
Air-heater（4）Output end and the second bifurcated pipe（3）Input end pipe connection；
The picking vehicle（1）Tail portion is provided with off-loadable collection frame（31）, off-loadable collection frame（31）On be provided with draw ring（30）,
Picking vehicle（1）Tail portion is provided with the pedestal with sliding slot（14）, off-loadable collection frame（31）It can be in the pedestal with sliding slot（14）A upper left side
Right sliding.
2. all-in-one machine is collected in Chinese cabbage picking according to claim 1, it is characterised in that：The pedestal with sliding slot（14）
It is bolted on picking vehicle（1）Tail portion, off-loadable collection frame（31）It is assembled in the pedestal with sliding slot（14）On, water tank（6）
It is bolted on picking vehicle（1）Bottom, first bifurcated pipe（5）One end and water tank（6）Pipe connects, and the other end passes through fixation
Item（25）It is fixed on camera bellows I（22）It is interior, second bifurcated pipe（3）One end and air-heater（4）Pipe connects, and the other end passes through fixed strip
（25）It is fixed on camera bellows II（24）It is interior, air-heater（4）It is directly anchored to picking vehicle（1）Bottom, square aperture conveyer belt（21）It is logical
Cross supporting rack（26）It is fixed on picking vehicle（1）Top.
3. all-in-one machine is collected in Chinese cabbage picking according to claim 1, it is characterised in that：The manipulator（15）First
Mechanical arm（16）It is arranged in picking vehicle（1）Headstock, rotating arm（18）It is arranged in first mechanical arm（16）On, manipulator（15）'s
The other end is provided with gripper（13）.
4. all-in-one machine is collected in Chinese cabbage picking according to claim 3, it is characterised in that：The gripper（13）Inside dress
There is air bag（27）, it is not easy to be pinched for working as a buffer protection Chinese cabbage.
5. all-in-one machine is collected in Chinese cabbage picking according to claim 3, it is characterised in that：The gripper（13）Inside is set
It is equipped with pressure sensor（29）, for detecting gripper（13）In the size variation for clamping Chinese cabbage process clamping force, pressure passes
Sensor（29）Signal output end and control device（20）The input terminal of signal is electrically connected.
6. all-in-one machine is collected in Chinese cabbage picking according to claim 1, it is characterised in that：The shear includes support
Small electric saw arm（10）, small-sized electric saw（11）, small machine（28）, small-sized electric saw（11）Directly and small machine（28）Axis connection, small electricity
Machine（28）Signal input part and control device（20）Output end connection, small-sized electric saw（11）With the small electric saw arm of support（10）It is mounted in
Lifting gear（9）On, it can move up and down, lifting gear（9）With control device（20）Connection.
7. all-in-one machine is collected in Chinese cabbage picking according to claim 1, it is characterised in that：The off-loadable collection frame（31）
Inner wall is arc-shaped, for preventing Chinese cabbage from causing to damage its cauline leaf when entering off-loadable collection frame.
8. all-in-one machine is collected in Chinese cabbage picking according to claim 1, it is characterised in that：The picking vehicle（1）Upper setting
There is non-skid tyre（2）, chair（17）.
9. all-in-one machine is collected in Chinese cabbage picking according to claim 1, it is characterised in that：The lifting gear（9）Using
Motor drives chain lifting to realize, chain one end connects motor, and the other end connects the scroll wheel of lifting gear, and motor is filled with control
It sets（20）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820097526.XU CN208079835U (en) | 2018-01-22 | 2018-01-22 | A kind of Chinese cabbage picking collection all-in-one machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820097526.XU CN208079835U (en) | 2018-01-22 | 2018-01-22 | A kind of Chinese cabbage picking collection all-in-one machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208079835U true CN208079835U (en) | 2018-11-13 |
Family
ID=64065935
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820097526.XU Expired - Fee Related CN208079835U (en) | 2018-01-22 | 2018-01-22 | A kind of Chinese cabbage picking collection all-in-one machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208079835U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108551858A (en) * | 2018-01-22 | 2018-09-21 | 昆明理工大学 | A kind of Chinese cabbage picking collection all-in-one machine |
-
2018
- 2018-01-22 CN CN201820097526.XU patent/CN208079835U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108551858A (en) * | 2018-01-22 | 2018-09-21 | 昆明理工大学 | A kind of Chinese cabbage picking collection all-in-one machine |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181113 Termination date: 20190122 |
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| CF01 | Termination of patent right due to non-payment of annual fee |