CN215188328U - Intelligent frequency-adjustable walnut vibration picking trolley - Google Patents

Intelligent frequency-adjustable walnut vibration picking trolley Download PDF

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Publication number
CN215188328U
CN215188328U CN202121401416.6U CN202121401416U CN215188328U CN 215188328 U CN215188328 U CN 215188328U CN 202121401416 U CN202121401416 U CN 202121401416U CN 215188328 U CN215188328 U CN 215188328U
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China
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vibration
slide rail
walnut
automatic positioning
mechanical arm
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CN202121401416.6U
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Chinese (zh)
Inventor
孙兴冻
汪杰
徐克�
许良元
蒋锐
方梁菲
徐海明
雒有宝
景文康
周超飞
彭双发
韩思佳
方舞
周健飞
叶雯文
魏铭
王雨轩
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Anhui Agricultural University AHAU
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Anhui Agricultural University AHAU
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Abstract

The utility model relates to a but device is picked in walnut vibration that intelligence was modulated can carry out automatic vibration to the walnut and pick, has reduced the damage to the walnut tree simultaneously. The method is characterized in that: the automatic positioning device comprises a mechanical arm system, a vibration system, a slide rail system, a multifunctional camera and an automatic positioning trolley; the mechanical claw is connected with the telescopic rod through the vibration system, the mechanical arm system is connected with the slide rail system through the telescopic rod and the transverse slide rail, and the slide rail system is fixedly connected with the automatic positioning trolley through two longitudinal slide rails. Compared with the prior art, the utility model, combine together mechanical arm system and automatic positioning dolly, developed the walnut vibration that intelligence can be frequently and picked the dolly, not only solved and picked the problem that walnut is inefficiency, also solved the long-time improper frequency of hand-held type walnut vibration picking device mechanical vibration to the problem of human body and walnut tree damage simultaneously.

Description

Intelligent frequency-adjustable walnut vibration picking trolley
Technical Field
The utility model relates to a but device is picked in walnut vibration that intelligence was modulated can carry out automatic vibration to the walnut and pick, has reduced the damage to the walnut tree simultaneously.
Background
In most areas of China, the ripening season of walnuts is 8 months and 9 months, the current walnut picking method comprises two methods of manual picking and mechanical picking, wherein the manual picking is that when fruits are ripe, branches where walnuts are located are knocked by bamboo poles or elastic long wood poles or the fruits are knocked down directly, the efficiency of the manual picking is low, and branches and buds of the walnuts can be damaged in the knocking process to influence the yield of the next year; mechanical picking is generally carried out for artifical hand-held type vibration picking, though has improved certain efficiency, the vibration that long-term machine produced has certain influence to the human body, and long-time unsuitable vibration frequency either can't shake ripe walnut whole fall, or will cause certain harm to the walnut tree.
Disclosure of Invention
The utility model discloses a but the device that walnut vibration that intelligence was adjustable in frequency was picked can be realized in research and development, realizes dolly automatic positioning before the walnut is picked, according to the walnut condition of dropping and automatically regulated vibration frequency at the picking in-process, has not only solved the problem that the walnut picked the inefficiency, has also solved the problem of the damage of long-time improper frequency mechanical vibration to human body and walnut tree simultaneously.
The utility model aims at realizing through the following technical scheme:
the utility model provides a dolly is picked in walnut vibration that intelligence can be modulated frequency which characterized in that: the automatic positioning device comprises a mechanical arm system, a vibration system, a slide rail system, a multifunctional camera and an automatic positioning trolley; the mechanical claw is connected with the telescopic rod through a vibration system, the mechanical arm system is connected with the slide rail system through the telescopic rod and the transverse slide rail, and the slide rail system is fixedly connected with the automatic positioning trolley through two longitudinal slide rails;
the mechanical arm system is connected with the sliding rail system and consists of a contact feedback switch, a mechanical claw, a vibration system and a telescopic rod, wherein the contact feedback switch is arranged on the mechanical claw and feeds back when contacting with the walnut tree mark; the vibration system is composed of a motor, a short rod and a long rod, the motor is arranged on a shell at the top end of the telescopic rod, one end of the short rod is hinged with the motor, the other end of the short rod is hinged with one end of the long rod, the other end of the long rod is hinged with the mechanical claw, and when the motor works with different powers, the short rod is driven to rotate, and then the long rod is driven to move, so that the mechanical claw is driven to reciprocate left and right at the front end of the telescopic rod; the telescopic rod is connected with the vibration system;
the sliding rail system is arranged on the automatic positioning trolley and consists of a transverse sliding rail, two vertical sliding rails and two longitudinal sliding rails, the sliding table of the transverse sliding rail is fixedly connected with the tail end of the telescopic rod to drive the mechanical arm system to move left and right, two ends of the transverse sliding rail are respectively fixed on the sliding tables of the two vertical sliding rails to drive the transverse sliding rail to move up and down, so that the mechanical arm system is driven to move up and down, the bottom ends of the two longitudinal sliding rails are fixedly connected with the automatic positioning trolley, the sliding tables of the two longitudinal sliding rails are respectively connected with one end of the two vertical sliding rails to drive the two vertical sliding rails to move back and forth, so that the mechanical arm system is driven to move back and forth;
the multifunctional camera is arranged on the automatic positioning trolley, when the trolley starts to work, the multifunctional camera starts to capture a walnut tree trunk mark, after the capture is finished, the trolley automatically positions and aligns, the mechanical arm system starts to work and initially vibrates at the optimal frequency, the multifunctional camera starts to capture the dropped walnuts in real time, the vibration frequency is increased when no walnut falls, until a walnut falls, the walnut tree is kept vibrating for a period of time at the frequency, when no walnut falls, the vibration frequency is continuously increased, the last step is repeated until the vibration frequency is increased to the limited maximum value, the vibration of the mechanical arm system is stopped, and the walnut picking of a walnut tree is finished.
Compared with the prior art, the utility model, following technological effect has:
the utility model discloses combine together mechanical arm system and automatic positioning dolly, developed the walnut vibration that an intelligence can be modulated and picked the dolly, not only solved the problem of picking walnut inefficiency, also solved the problem of the long-time improper frequency of hand-held type walnut vibration picking device mechanical vibration to human body and walnut tree damage simultaneously.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a robot system;
FIG. 3 is a schematic structural view of a vibration system;
FIG. 4 is a schematic structural diagram of a slide rail system;
in the figure, 1 is a contact feedback switch, 2 is a gripper, 3 is a vibration system, 4 is a telescopic rod, 5 is a slide rail system, 6 is a multifunctional camera, 7 is an automatic positioning trolley, 301 is a motor, 302 is a short rod, 303 is a long rod, 501 is a transverse slide rail, 502 is a vertical slide rail, 503 is a longitudinal slide rail, 504 is a longitudinal slide rail, and 505 is a vertical slide rail.
The specific implementation mode is as follows:
referring to the attached drawings 1-4, the embodiment is an intelligent frequency-adjustable walnut vibration picking trolley, which comprises a mechanical arm system, a vibration system 3, a slide rail system 5, a multifunctional camera 6 and an automatic positioning trolley 7; the mechanical claw 2 is connected with an expansion link 4 through a vibration system 3, the mechanical arm system is connected with a slide rail system 5 through the expansion link 4 and a transverse slide rail 501, and the slide rail system 5 is fixedly connected with an automatic positioning trolley 7 through a longitudinal slide rail 503 and a longitudinal slide rail 504.
The mechanical arm system is connected with the sliding rail system 5 and consists of a contact feedback switch 1, a mechanical claw 2, a vibration system 3 and a telescopic rod 4, wherein the contact feedback switch 1 is arranged on the mechanical claw 2, and when the contact feedback switch 2 is contacted with a walnut tree mark, feedback is carried out, so that the function that the mechanical claw 2 retreats by one centimeter and then clamps a trunk is realized; the vibration system 3 is composed of a motor 301, a short rod 302 and a long rod 303, the motor 301 is arranged on a shell at the top end of the telescopic rod 4, one end of the short rod 302 is hinged with the motor 301, the other end of the short rod 302 is hinged with one end of the long rod 303, the other end of the long rod 303 is hinged with the mechanical claw 2, when the motor 301 works with different powers, the short rod 302 is driven to rotate, the long rod 303 is driven to move, and then the mechanical claw 2 is driven to reciprocate left and right at the front end of the telescopic rod 4, so that the function of vibrating left and right at different frequencies by the mechanical claw 2 is realized; the telescopic rod 4 is connected with the vibration system 3, so that the front and back contraction function of the mechanical arm system is realized.
The slide rail system 5 is arranged on the automatic positioning trolley 7, the slide rail system 5 is composed of a transverse slide rail 501, a vertical slide rail 502, a longitudinal slide rail 503, a longitudinal slide rail 504 and a vertical slide rail 505, a sliding table of the transverse slide rail 501 is fixedly connected with the tail end of the telescopic rod 4 to drive the mechanical arm system to move left and right, two ends of the transverse slide rail 501 are respectively fixed on the sliding tables of the vertical slide rail 502 and the vertical slide rail 505 to drive the transverse slide rail 501 to move up and down, so as to drive the mechanical arm system to move up and down, the bottom ends of the longitudinal slide rail 503 and the longitudinal slide rail 504 are fixedly connected with the automatic positioning trolley 7, the sliding tables of the longitudinal slide rail 503 and the longitudinal slide rail 504 are respectively connected with one end of the vertical slide rail 502 and one end of the vertical slide rail 505 to drive the vertical slide rail 502 and the vertical slide rail 505 to move back and forth, so as to drive the mechanical arm system to move back and forth, thereby realizing the function that the mechanical arm system can be adjusted at the position where the walnut tree mark is positioned with multiple degrees of freedom, meanwhile, the automatic positioning trolley has the function of collecting the mechanical arm system into the automatic positioning trolley 7.
The multifunctional camera 6 is arranged on the automatic positioning trolley 7, when the trolley starts to work, the multifunctional camera 6 starts to capture a walnut tree trunk mark, the trolley automatically positions and aligns after capture is completed, the mechanical arm system starts to work and vibrates at the optimal frequency initially, the multifunctional camera 6 starts to capture a dropped walnut in real time, the vibration frequency is increased when no walnut drops until a walnut falls, the walnut tree is kept vibrating for a period of time at the frequency, when no walnut falls, the vibration frequency is continuously increased, the previous step is repeated until the vibration frequency is increased to a limited maximum value, the mechanical arm system is stopped vibrating, and walnut picking of a walnut tree is finished.

Claims (4)

1. The utility model provides a dolly is picked in walnut vibration that intelligence can be modulated frequency which characterized in that: the automatic positioning device comprises a mechanical arm system, a vibration system, a slide rail system, a multifunctional camera and an automatic positioning trolley; the mechanical claw is connected with the telescopic rod through the vibration system, the mechanical arm system is connected with the slide rail system through the telescopic rod and the transverse slide rail, and the slide rail system is fixedly connected with the automatic positioning trolley through two longitudinal slide rails.
2. The intelligent adjustable-frequency walnut vibration picking trolley according to claim 1, characterized in that: the mechanical arm system is connected with the sliding rail system and consists of a contact feedback switch, a mechanical claw, a vibration system and a telescopic rod, and the contact feedback switch is arranged on the mechanical claw; the vibration system is composed of a motor, a short rod and a long rod, the motor is arranged on a shell at the top end of the telescopic rod, one end of the short rod is hinged with the motor, the other end of the short rod is hinged with one end of the long rod, and the other end of the long rod is hinged with the mechanical claw; the telescopic rod is connected with the vibration system.
3. The intelligent adjustable-frequency walnut vibration picking trolley according to claim 1, characterized in that: the slide rail system set up on the automatic positioning dolly, the slide rail system constitute by horizontal slide rail, two vertical slide rails and two vertical slide rails, the tail end rigid coupling of slip table and the telescopic link of horizontal slide rail, the both ends of horizontal slide rail are fixed respectively on the slip table of two vertical slide rails, the bottom and the automatic positioning dolly rigid coupling of two vertical slide rails, the slip table of two vertical slide rails is connected with the one end of two vertical slide rails respectively.
4. The intelligent adjustable-frequency walnut vibration picking trolley according to claim 1, characterized in that: the multifunctional camera is arranged on the automatic positioning trolley.
CN202121401416.6U 2021-06-23 2021-06-23 Intelligent frequency-adjustable walnut vibration picking trolley Active CN215188328U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202121401416.6U CN215188328U (en) 2021-06-23 2021-06-23 Intelligent frequency-adjustable walnut vibration picking trolley

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202121401416.6U CN215188328U (en) 2021-06-23 2021-06-23 Intelligent frequency-adjustable walnut vibration picking trolley

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Publication Number Publication Date
CN215188328U true CN215188328U (en) 2021-12-17

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114868525A (en) * 2022-05-31 2022-08-09 黄山四月乡村农艺场有限公司 Soilless culture tomato harvesting equipment

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114868525A (en) * 2022-05-31 2022-08-09 黄山四月乡村农艺场有限公司 Soilless culture tomato harvesting equipment

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