CN213427092U - Rope type daylily picking machine - Google Patents

Abstract

The invention discloses a rope type daylily picking machine, which is characterized in that: bearing plate including the symmetry setting, the direction platform, the ear seat, the pulley, remove the seat, cylinder and bearing frame, the bearing plate opposite face all is equipped with the direction platform near the bottom position, be equipped with on the direction platform and remove the seat, be connected through the connecting rod between eccentric wheel and the removal seat, be equipped with Delta parallel mechanism on the rope between the pulley on the bearing plate that the symmetry set up, install two mesh cameras on the picking mechanism, picking mechanism corresponds being equipped with the receiver of position, the built-in drive shaft of cylinder, be equipped with rectangular recess on the cylinder between cylinder and the drive shaft contact surface, be equipped with rectangular arch in the drive shaft between cylinder and the drive shaft contact surface, the drive shaft is arranged the outer one end in cylinder chamber in and is passed through the location axle sleeve and fix on the supporting seat. The invention has the advantages that: the daylily picking machine is flexible to move, low in labor intensity and high in picking efficiency.

Description

Rope type daylily picking machine

Technical Field

The invention belongs to the technical field of plant picking devices, and particularly relates to a rope type daylily picking machine.

Background

Daylily also known as day lily, nepenthes and nerve-soothing vegetable is a precious product on a mat and an ornamental famous flower, the stem, the root and the leaves of the daylily can be used as medicines, also known as day lily, is a famous countryside of daylily in Yunzhou region (Yuandangcounty) in the same city of Shanxi province, has a day lily planting history of 600 years and very high quality, and is selected from a Chinese agricultural brand catalog in 2019, 11 and 15 days. For a long time, day lily picking is manual picking, pesticide residues are left on the day lily, the day lily can harm hands of workers to a certain extent when picked for a long time, nails of the workers are pinched off by means of forefingers and thumbs, efficiency is low, labor is wasted, tender bud juice and broken foam are jammed in the nail seams, and swelling pain of the nails is easily caused after a long time; the day lily picking period is from 6 late ten days to 8 late ten days for 40 days, and the day lily is too hot and exposed to the sun, so that the day lily picking period is not suitable for workers to work in the environment, and risks such as skin sunburn or heatstroke are caused; in addition, the planting area of the daylily is increased year by year and the large-scale production is developed, so that the pure manual picking work is heavy, the labor intensity is high, the efficiency is low, and the labor cost is high. Therefore, it is important to solve the above problems.

Disclosure of Invention

The daylily picking machine overcomes the defects of the prior art, and is flexible to move, low in labor intensity and high in picking efficiency.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a rope type daylily picking machine is characterized in that: the device comprises a bearing plate, a guide platform, lug seats, pulleys, a moving seat, a roller and a bearing seat which are symmetrically arranged, wherein the opposite surfaces of the bearing plate are close to the top position and are respectively provided with the lug seats, the pulleys are installed on the lug seats, the opposite surfaces of the bearing plate are close to the bottom position and are respectively provided with the guide platform, the guide platform is provided with the moving seat, the moving seat is arranged between the contact surfaces of the moving seat and the guide platform, the moving seat is provided with a first T-shaped block, the first T-shaped block is arranged in the first T-shaped groove, the bearing plate at the position corresponding to the moving seat is provided with a supporting seat, the supporting seat is provided with a stroke driving stepping motor, the output end of the stroke driving stepping motor penetrates through the supporting seat and is provided with a first umbrella-shaped gear and an eccentric wheel from top to bottom at the end part, the eccentric wheel is connected with the moving seat through a connecting rod, a group of bearing seats are arranged at the top of the moving seat, rollers are arranged between the bearing seats, the rollers on the bearing plates which are symmetrically arranged are connected through ropes, the ropes are arranged on the pulleys on the bearing plates which are symmetrically arranged, a Delta parallel mechanism is arranged on the ropes between the pulleys on the bearing plates which are symmetrically arranged, a picking mechanism is arranged on the Delta parallel mechanism, a binocular camera is arranged on the picking mechanism, a storage box is arranged at the corresponding position of the picking mechanism and is connected on the Delta parallel mechanism through a support, a driving shaft is arranged in the roller, a strip groove is arranged on the roller between the contact surfaces of the roller and the driving shaft, a strip protrusion is arranged on the driving shaft between the contact surfaces of the roller and the driving shaft, the rectangular arch is arranged in rectangular recess, the drive shaft is arranged in the outer one end of cylinder chamber is fixed through the location axle sleeve on the supporting seat, drive shaft tip cover is equipped with second bevel gear, second bevel gear meshing first bevel gear, the bearing plate lateral part is equipped with power and power control equipment.

Furthermore, the Delta parallel mechanism comprises a connecting seat, a hydraulic cylinder, a static platform, a position adjusting driving stepping motor, a driving arm, a driven arm and a movable platform, wherein the connecting seat is fixedly connected with the rope, the hydraulic cylinder is arranged at the bottom of the connecting seat, the output end of the hydraulic cylinder is fixedly connected with the top of the static platform, the position adjusting driving stepping motor is uniformly distributed and installed at the bottom of the static platform, the output end of the position adjusting driving stepping motor drives the driving arm, the driving arm is hinged with the driven arm, the driven arm is hinged on the movable platform, and the side part of the connecting seat is fixedly connected with the support.

Further, the picking mechanism comprises a picking driving stepping motor, a driving gear, a left picking hand and a right picking hand, the picking driving stepping motor is arranged at the top of the movable platform, the output end of the picking driving stepping motor penetrates through the movable platform, the end part of the picking driving stepping motor is sleeved with the driving gear, the left picking hand is arranged at the corresponding position of the left end of the driving gear, the right picking hand is arranged at the corresponding position of the right end of the driving gear, the left picking hand and the right picking hand are L-shaped and are symmetrically arranged, cutting knives are arranged between the contact surfaces of the left picking hand and the right picking hand, racks are arranged on the left picking hand and the right picking hand at the corresponding positions of the cutting knives, the racks are parallel to each other and are meshed with the driving gear, second T-shaped blocks are arranged on the left picking hand and the right picking hand between the contact surfaces of the left picking hand and the movable platform, the left picking hand and the right picking hand are arranged between the contact surfaces of the movable platforms, second T-shaped grooves are formed in the movable platforms, second T-shaped blocks are arranged in the second T-shaped grooves, and the binocular camera is mounted at the bottom of the left picking hand.

Furthermore, the hydraulic cylinder, the binocular camera, the position adjusting driving stepping motor, the stroke driving stepping motor and the picking driving stepping motor are electrically connected with a power supply and power control equipment.

Compared with the prior art, the invention has the advantages that: the labor productivity is improved, the labor intensity and the cost of workers are reduced, the daylily is harvested in real time, and the daylily harvesting machine has very important practical significance and wide application prospect;

the harm of residual pesticide to hands of people is prevented;

the sun exposure of workers is avoided, the risks of sunburn or heatstroke of the skin of the workers are avoided, and the picking period is not delayed;

the electric drive does not produce tail gas, does not cause air pollution, and has low noise and no noise pollution;

the bearing plates are arranged at two ends of each ridge, the ropes are arranged above the daylily in each ridge, the picking mechanisms are correspondingly arranged at the top of the daylily, the ropes are driven by power provided by the stroke driving stepping motor to move, the daylily in each ridge can be picked, and the picking efficiency is improved; the stroke drives the step motor to operate, can drive the cylinder to rotate under the effect of first umbrella gear and second umbrella gear, simultaneously, can drive under the effect of eccentric wheel and remove the seat and reciprocate, remove the seat and can drive the cylinder and reciprocate to make even winding of rope on the cylinder.

Drawings

Fig. 1 is a schematic perspective view of a rope type daylily picking machine according to the present invention.

Fig. 2 is a schematic front view of the structure of a rope type daylily picking machine of the present invention.

Fig. 3 is a schematic structural diagram of a Delta parallel mechanism of the rope type daylily picking machine.

Fig. 4 is a schematic perspective view of the picking mechanism of the rope type daylily picker according to the present invention.

Fig. 5 is an enlarged structural diagram of the rope type daylily picking machine in the direction of a shown in fig. 1.

In the figure, 1, a bearing plate, 2, a guide platform, 3, an ear seat, 4, a pulley, 5, a moving seat, 6, a roller, 7, a bearing seat, 8, a first T-shaped groove, 9, a first T-shaped block, 10, a supporting seat, 11, a stroke driving stepping motor, 12, a first umbrella-shaped gear, 13, an eccentric wheel, 14, a connecting rod, 15, a rope, 16, a binocular camera, 17, a storage box, 18, a bracket, 19, a driving shaft, 20, a strip-shaped groove, 21, a strip-shaped bulge, 22, a positioning shaft sleeve, 23, a second umbrella-shaped gear, 24, a power supply and power control device, 25, a connecting seat, 26, a hydraulic cylinder, 27, a static platform, 28, a position adjusting driving stepping motor, 29, a driving arm, 30, a driven arm, 31, a moving platform, 32, a picking driving stepping motor, 33, a driving gear, 34, a left picking hand, 35, a right picking hand and 36, a cutting, 37. rack 38, second T-shaped block 39, second T-shaped groove.

Detailed Description

The following examples are intended to further illustrate the present invention and should not be construed as limiting the scope of the invention, and other insubstantial modifications and adaptations of the invention by those skilled in the art based on the teachings herein are intended to be covered thereby.

Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In fig. 1 to 5, 1 is a bearing plate, 2 is a guide platform, 3 is an ear seat, 4 is a pulley, 5 is a moving seat, 6 is a roller, 7 is a bearing seat, 8 is a first T-shaped groove, 9 is a first T-shaped block, 10 is a supporting seat, 11 is a stroke driving stepping motor, 12 is a first umbrella-shaped gear, 13 is an eccentric wheel, 14 is a connecting rod, 15 is a rope, 16 is a binocular camera, 17 is a storage box, 18 is a bracket, 19 is a driving shaft, 20 is a strip groove, 21 is a strip protrusion, 22 is a positioning shaft sleeve, 23 is a second umbrella-shaped gear, 24 is a power supply and power control device, 25 is a connecting seat, 26 is a hydraulic cylinder, 27 is a static platform, 28 is a position adjusting driving stepping motor, 29 is a driving arm, 30 is a driven arm, 31 is a moving platform, 32 is a picking driving stepping motor, 33 is a picking driving gear, 34 is a left picking hand, 35 is a right picking hand, 36 is a cutting knife, 37. rack 38, second T-shaped block 39, second T-shaped groove.

A rope type daylily picking machine is characterized in that: comprises a bearing plate 1, a guide platform 2, lug seats 3, pulleys 4, a moving seat 5, a roller 6 and a bearing seat 7 which are symmetrically arranged, wherein the lug seats 3 are arranged at positions, close to the top, of opposite surfaces of the bearing plate 1, the pulleys 4 are arranged on the lug seats 3, the guide platform 2 is arranged at positions, close to the bottom, of opposite surfaces of the bearing plate 1, the moving seat 5 is arranged on the guide platform 2, a first T-shaped groove 8 is arranged on the guide platform 2 between contact surfaces of the moving seat 5 and the guide platform 2, a first T-shaped block 9 is arranged on the moving seat 5 between contact surfaces of the moving seat 5 and the guide platform 2, the first T-shaped block 9 is arranged in the first T-shaped groove 8, a support seat 10 is arranged on the bearing plate 1 at a position corresponding to the moving seat 5, a stroke driving stepping motor 11 is arranged on the support seat 10, an output end of the stroke driving stepping motor 11 penetrates through the support seat 10, the eccentric wheel 13 is connected with the moving seat 5 through a connecting rod 14, the top of the moving seat 5 is provided with a group of bearing seats 7, rollers 6 are arranged between the bearing seats 7, the rollers 6 on the symmetrically arranged bearing plates 1 are connected through ropes 15, the ropes 15 are arranged on the pulleys 4 on the symmetrically arranged bearing plates 1, a Delta parallel mechanism is arranged on the ropes 15 between the pulleys 4 on the symmetrically arranged bearing plates 1, a picking mechanism is arranged on the Delta parallel mechanism, a binocular camera 16 is arranged on the picking mechanism, a storage box 17 is arranged at a corresponding position of the picking mechanism, the storage box 17 is connected on the Delta parallel mechanism through a bracket 18, a driving shaft 19 is arranged in the roller 6, a strip groove 20 is arranged on the roller 6 between contact surfaces of the roller 6 and the driving shaft 19, a strip bulge 21 is arranged on the driving shaft 19 between contact surfaces of the roller 6 and the driving shaft 19, and, one end of the driving shaft 19 which is arranged outside the cavity of the roller 6 is fixed on the supporting seat 10 through a positioning shaft sleeve 22, the end part of the driving shaft 19 is sleeved with a second bevel gear 23, the second bevel gear 23 is meshed with the first bevel gear 12, and the side part of the bearing plate 1 is provided with a power supply and power control device 24.

Delta parallel mechanism includes connecting seat 25, pneumatic cylinder 26, quiet platform 27, position control drive step motor 28, master arm 29, driven arm 30 and movable platform 31, connecting seat 25 and rope 15 fixed connection, connecting seat 25 bottom is equipped with pneumatic cylinder 26, quiet platform 27 top of pneumatic cylinder 26 output end fixed connection, quiet platform 27 bottom evenly distributed installs position control drive step motor 28, position control drive step motor 28's output all drives master arm 29, master arm 29 articulates driven arm 30, driven arm 30 articulates on movable platform 31, connecting seat 25 lateral part fixed connection support 18.

The picking mechanism comprises a picking driving stepping motor 32, a driving gear 33, a left picking hand 34 and a right picking hand 35, the picking driving stepping motor 32 is arranged at the top of a movable platform 31, the output end of the picking driving stepping motor 32 penetrates through the movable platform 31, the end part of the picking driving stepping motor is sleeved with the driving gear 33, the left picking hand 34 is arranged at the corresponding position of the left end of the driving gear 33, the right picking hand 35 is arranged at the corresponding position of the right end of the driving gear 33, the left picking hand 34 and the right picking hand 35 are both L-shaped and symmetrically arranged, a cutting knife 36 is arranged between the contact surfaces of the left picking hand 34 and the right picking hand 35, racks 37 are arranged on the left picking hand 34 and the right picking hand 35 at the corresponding positions of the cutting knife 36, the racks 37 are parallel to each other and are meshed with the driving gear 33, second T-shaped blocks 38 are arranged on the left picking hand 34 and the right picking hand, a second T-shaped groove 39 is arranged on the movable platform 31 between the contact surfaces of the left picking hand 34 and the right picking hand 35 and the movable platform 31, a second T-shaped block 38 is arranged in the second T-shaped groove 39, and the bottom of the left picking hand 34 is provided with the binocular camera 16.

The hydraulic cylinder 26, the binocular camera 16, the position adjusting driving stepping motor 28, the stroke driving stepping motor 11 and the picking driving stepping motor 32 are all electrically connected with the power supply and power control device 24.

When the daylily picking device works, the bearing plates 1 are arranged at two ends of each ridge, the ropes 15 are arranged above daylily in each ridge, the picking mechanisms are correspondingly arranged at the top of the daylily, the stroke driving stepping motors 11 at two ends of each ridge are opposite in direction, the stroke driving stepping motors 11 provide power to drive the ropes 15, the ropes 15 move, the binocular cameras detect the positions of the daylily and feed information back to the control equipment in the moving process of the ropes 15, the control equipment controls the hydraulic cylinders 26, the stroke driving stepping motors 11, the position adjusting driving stepping motors 28 and the picking driving stepping motors 32 to execute information instructions, and finally, the daylily is picked and put into the storage box 17.

The stroke-driven stepping motor 11 operates to drive the drum 6 to rotate under the action of the first bevel gear 12 and the second bevel gear 23, and simultaneously, the moving base 5 can be driven to move back and forth under the action of the eccentric wheel 13, and the moving base 5 can drive the drum 6 to move back and forth, so that the rope 15 is uniformly wound on the drum 6.

The present invention is not described in detail in the prior art.

Claims (4)

1. A rope type daylily picking machine is characterized in that: comprises a bearing plate (1), a guide platform (2), an ear seat (3), a pulley (4), a moving seat (5), a roller (6) and a bearing seat (7) which are symmetrically arranged, wherein the opposite surface of the bearing plate (1) is close to the top position and is provided with the ear seat (3), the pulley (4) is installed on the ear seat (3), the opposite surface of the bearing plate (1) is close to the bottom position and is provided with the guide platform (2), the guide platform (2) is provided with the moving seat (5), the guide platform (2) between the contact surfaces of the moving seat (5) and the guide platform (2) is provided with a first T-shaped groove (8), the moving seat (5) between the contact surfaces of the moving seat (5) and the guide platform (2) is provided with a first T-shaped block (9), and the first T-shaped block (9) is arranged in the first T-shaped groove (8), a supporting seat (10) is arranged on the bearing plate (1) at a position corresponding to the moving seat (5), a stroke driving stepping motor (11) is installed on the supporting seat (10), the output end of the stroke driving stepping motor (11) penetrates through the supporting seat (10), a first bevel gear (12) and an eccentric wheel (13) are sleeved on the end portion from top to bottom, the eccentric wheel (13) is connected with the moving seat (5) through a connecting rod (14), a group of bearing seats (7) are arranged at the top of the moving seat (5), rollers (6) are arranged between the bearing seats (7), the rollers (6) on the bearing plate (1) which are symmetrically arranged are connected through ropes (15), the ropes (15) are arranged on the pulleys (4) on the bearing plate (1) which are symmetrically arranged, Delta parallel mechanisms are arranged on the ropes (15) between the pulleys (4) on the bearing plate (1) which are symmetrically arranged, be equipped with picking mechanism on the Delta parallel mechanism, install binocular camera (16) on the picking mechanism, picking mechanism corresponds being equipped with receiver (17) of position, receiver (17) pass through support (18) and connect on the Delta parallel mechanism, cylinder (6) built-in drive shaft (19), cylinder (6) with between drive shaft (19) the last rectangular recess (20) that is equipped with of cylinder (6), cylinder (6) with between drive shaft (19) the contact surface be equipped with rectangular arch (21) on drive shaft (19), rectangular arch (21) are arranged in rectangular recess (20), drive shaft (19) are arranged in cylinder (6) extraluminal one end is fixed through location axle sleeve (22) on supporting seat (10), drive shaft (19) tip cover is equipped with second umbrella type gear (23), the second bevel gear (23) is meshed with the first bevel gear (12), and a power supply and power control device (24) is arranged on the side of the pressure bearing plate (1).

2. The string type daylily picking machine according to claim 1, wherein: delta parallel mechanism includes connecting seat (25), pneumatic cylinder (26), quiet platform (27), position control drive step motor (28), initiative arm (29), slave arm (30) and moves platform (31), connecting seat (25) with rope (15) fixed connection, connecting seat (25) bottom is equipped with pneumatic cylinder (26), pneumatic cylinder (26) output fixed connection quiet platform (27) top, quiet platform (27) bottom evenly distributed installs position control drive step motor (28), the output of position control drive step motor (28) all drives initiative arm (29), initiative arm (29) articulated slave arm (30), slave arm (30) articulate move on platform (31), connecting seat (25) lateral part fixed connection support (18).

3. The string type daylily picking machine according to claim 2, wherein: picking mechanism picks hand (34) and right side and picks hand (35) including picking drive step motor (32), drive gear (33), picking drive step motor (32) and installing move platform (31) top, it runs through to pick drive step motor (32) output move platform (31) and be equipped with drive gear (33) at the tip cover, drive gear (33) left end corresponding position is equipped with left side and picks hand (34), drive gear (33) right end corresponding position is equipped with right side and picks hand (35), left side pick hand (34) with right side pick hand (35) all is the L form, and the symmetry sets up, left side pick hand (34) with right side pick and all is equipped with cutting knife (36) between the hand (35) contact surface, cutting knife (36) corresponding position pick left side hand (34) with right side and all is equipped with rack (37), rack (37) be parallel to each other all with drive gear (33) meshing, pick hand (34) on a left side with the right side pick hand (35) with move between platform (31) contact surface pick hand (34) on a left side with the right side is picked and all is equipped with second T type piece (38) on hand (35), pick hand (34) on a left side with the right side pick hand (35) with move between platform (31) contact surface be equipped with second T type groove (39) on platform (31), second T type piece (38) are arranged in second T type groove (39), it installs to pick hand (34) bottom on a left side binocular camera (16).

4. The string type daylily picking machine according to claim 3, wherein: the hydraulic cylinder (26), the binocular camera (16), the position adjusting driving stepping motor (28), the stroke driving stepping motor (11) and the picking driving stepping motor (32) are all electrically connected with a power supply and power control equipment (24).

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