CN106182022A - A kind of vegetable rotary-cut is gathered robot - Google Patents
A kind of vegetable rotary-cut is gathered robot Download PDFInfo
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- CN106182022A CN106182022A CN201610522431.3A CN201610522431A CN106182022A CN 106182022 A CN106182022 A CN 106182022A CN 201610522431 A CN201610522431 A CN 201610522431A CN 106182022 A CN106182022 A CN 106182022A
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- 235000013311 vegetables Nutrition 0.000 title claims abstract description 143
- 230000009184 walking Effects 0.000 claims abstract description 98
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000013016 damping Methods 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims description 35
- 230000007246 mechanism Effects 0.000 claims description 15
- 239000011159 matrix material Substances 0.000 claims description 14
- 238000003466 welding Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 210000000056 organ Anatomy 0.000 claims 1
- 238000003306 harvesting Methods 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 12
- 230000008901 benefit Effects 0.000 description 8
- 241000195622 Astasia Species 0.000 description 7
- 206010010947 Coordination abnormal Diseases 0.000 description 7
- 230000003028 elevating effect Effects 0.000 description 4
- 230000007774 longterm Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010516 chain-walking reaction Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000001932 seasonal effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention relates to a kind of vegetable rotary-cut gather robot, including from steady travelling platform, from steady travelling platform, there is good damping performance and stability, the present invention can be made to work with being applicable to rough planting vegetable in greenhouse, described on the right side of the upper surface of steady travelling platform, rotary cutting apparatus of gathering is installed, rotary cutting apparatus of gathering can realize gathering the vibration of vegetable function, and speed of gathering is fast, and harvest efficiency is high;Described include mounting platform from steady travelling platform, the left and right sides, lower surface of described mounting platform is symmetrically installed with two transmission branch chain, and both sides are all symmetrically welded with two walking side chains before and after each transmission branch chain, drive walking side chain in planting vegetable in greenhouse walking the most automatically by transmission branch chain, cultivating process is without manual operation, and work efficiency is high.The present invention can realize the vibration of booth vegetable and gather function, it is not necessary to manual operation, automaticity is high.
Description
Technical field
The present invention relates to agricultural machinery technological field, specifically a kind of vegetable rotary-cut is gathered robot.
Background technology
In we live, booth vegetable is seen everywhere, by booth can the Time To Market of manual control vegetable, booth vegetables
Dish can meet the fast supply demand of Various Seasonal vegetable, and therefore the yield of booth vegetable is the hugest.Existing booth vegetable kind
It is main for planting substantially artificial culture, and the concrete technology that booth is cultivated has plantation, loosens the soil, applies fertilizer, waters, gathers, existing this
Plant booth vegetable artificial culture's mode and there is following defect: 1, the artificial long-term auxiliary operation of needs, labor intensity is big, work efficiency
Lowly;2, the most uneven due to planting vegetable in greenhouse ground surface, operator passes through machinery cultivation instrument on planting site
The stability operated of walking up and down is poor, and astasia is easy to the situation occurring falling down, and causes the work that booth vegetable is cultivated
Efficiency is greatly lowered;3, after vegetable ripeness, need manually to gather vegetable, it is common that first manually captures vegetable, then shakes off
Earth on vegetable root, then excises root with cutting knife, whole during be all manually-operated, speed of gathering is slow, gathers
Inefficiency.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of vegetable rotary-cut and gather robot, existing booth can be solved
The needs that vegetable artificial culture's mode exists manually long-term auxiliary operation, labor intensity is big, plantation stability is poor, work efficiency
Lowly, speed of gathering is slow and the low inferior difficult problem of harvest efficiency, it is possible to achieve the vibration of booth vegetable is gathered function, it is not necessary to manually grasp
Making, automaticity is high, and stability is good, work efficiency is high, speed of gathering fast and harvest efficiency advantages of higher to have plantation.
To achieve these goals, the present invention realizes by the following technical solutions: a kind of vegetable rotary-cut is gathered robot,
Including from steady travelling platform, from steady travelling platform, there is good damping performance and stability, the present invention can be made to be applicable to
The work of rough planting vegetable in greenhouse ground, described is provided with, on the right side of the upper surface of steady travelling platform, rotary cutting apparatus of gathering,
Rotary cutting apparatus of gathering can realize gathering the vibration of vegetable function, and speed of gathering is fast, and harvest efficiency is high.
Described including mounting platform from steady travelling platform, the left and right sides, lower surface of described mounting platform is symmetrically installed with two
Before and after individual transmission branch chain, and each transmission branch chain, both sides are all symmetrically welded with two walking side chains, are driven by transmission branch chain
Walking side chain is in planting vegetable in greenhouse walking the most automatically, and cultivating process is without manual operation, and work efficiency is high;Described transmission is propped up
Chain includes being symmetrically welded at two pieces of fixed boards of both sides before and after mounting platform lower surface, logical between the upper end of two pieces of fixed boards
Crossing bearing and be provided with driving shaft, the middle part of driving shaft is provided with driving gear by key, and the front end of driving shaft is pacified by shaft coupling
Equipped with driving motor, driving motor is arranged on the lower surface of mounting platform by motor cabinet, between the lower end of two pieces of fixed boards
Being provided with driven shaft by bearing, the middle part of driven shaft is provided with driven gear by key, and driven gear is nibbled mutually with driving gear
Closing, before and after driven shaft, two ends are symmetrically welded with two walking side chains, drive driving shaft to rotate by driving motor, driving shaft band
Dynamic driving gear rotates, and driving gear drives driven shaft under the auxiliary of driven gear, and driven shaft drives two walkings at two ends
Side chain is in planting vegetable in greenhouse walking the most automatically;Described walking side chain includes the walking jacking block that side is welded on driven shaft,
Walking jacking block is square structure, and four sides of walking jacking block are separately installed with four shock-absorbing support mechanisms, four dampings
Supporting mechanism upper end is separately installed with four arc walking blocks, and all uniformly connecting between adjacent two arcs walking block has a limit
Being evenly arranged with taper walking bar on position spring, and the outer wall of each arc walking block, taper walking bar is pyramidal structure, will
The walking pressure on planting vegetable in greenhouse ground is concentrated on taper walking bar by the present invention, improves the present invention and cultivates at booth vegetable
Time walking stability energy, a limit spring plays spacing and damping effect, and shock-absorbing support mechanism has good damping
Performance and stability so that the present invention walks on block at the assosting effect arc lower of a limit spring and shock-absorbing support mechanism
Taper walking bar can stablize and walk at rough planting vegetable in greenhouse, applied widely;Described driving gear with
The gear ratio of driven gear is 2:1, is reduced the velocity of rotation of driven gear by low gear ratio, thus reduces walking
Chain, in the speed of travel of planting vegetable in greenhouse ground, further increases walking stability energy;Described shock-absorbing support mechanism includes
Being arranged on the fixed platform in walking jacking block corresponding side surface, fixed platform upper surface is the most uniformly provided with three parallel connections and props up
Chain, the top of three side chains in parallel is installed on the lower surface of moving platform, and the upper surface uniform welding of moving platform has three bars
Shape props up block, and it is the globoidal structure corresponding with arc walking block that the upper surface of block is propped up in bar shaped, and the upper surface weldering of block is propped up in three bar shapeds
It is connected on the inwall of corresponding arc walking block so that block is propped up in three bar shapeds can be to the corresponding arc walking strong support of block
Power;Described side chain in parallel includes the matrix bearing being welded on fixed platform upper surface, is provided with lower limit between the middle part of matrix bearing
Position axle, the upper end inwall of matrix bearing is symmetrically arranged with two arc-shaped limit grooves;A liquid it is arranged with on described lower limit axle
Cylinder pressure, the both sides, bottom of a hydraulic cylinder are provided with two gag lever posts, the end of two gag lever posts and two arc-shaped limit grooves it
Between by sliding matching mode be connected, the motion between two gag lever posts and two arc-shaped limit grooves play restriction a number hydraulic cylinder
The slewing area of bottom, also prevent the situation that a hydraulic cylinder bottom moves left and right, due to the present invention often uneven
Planting vegetable in greenhouse walking on the ground, and a hydraulic cylinder bottom can be strengthened by two gag lever posts and two arc-shaped limit grooves
Stability when lower limit axle rotates, improves service behaviour;The top of a described hydraulic cylinder is provided with ball by screw thread
Shape union joint, the two ends of spherical connector are symmetrically arranged with two upper limit axles, two upper limit axles respectively with an ear mount
All being connected by bearing between two ends, the lower surface inwall of an ear mount is welded with locating dowel, the end of locating dowel is and ball
The matrix spherical structure that shape union joint is corresponding, by sliding matching mode phase between the end of locating dowel and spherical connector
Even, the upper surface of an ear mount is welded on moving platform, is limited and support the motion of spherical connector by locating dowel, thus
On spherical connector two upper limit axles can be stablized rotate in an ear mount, enhance a hydraulic cylinder top and turn
Stability time dynamic, improves service behaviour, and the R formed when matrix bearing rotates by a hydraulic cylinder is secondary, a hydraulic pressure
The P formed during cylinder working is secondary, hydraulic cylinder R pair of formation when an ear mount rotates constitutes the side chain in parallel of RPR type, and
The present invention defines 3-RPR parallel institution, 3-RPR parallel institution by fixed platform, the side chain in parallel of three RPR types and moving platform
Have that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, by 3-RPR parallel institution
Advantage make the present invention have good damping performance and stability when planting vegetable in greenhouse walking on the ground, eliminate people
During work operation, astasia reduces the situation of operating rate, and the scope of application is big.During work, first pass through the transmission in transmission branch chain
Driven by motor driving shaft rotates, and driving shaft drives driving gear to rotate, and driving gear drives driven under the auxiliary of driven gear
Axle, driven shaft drives the tapers walking bars on two of two ends walking side chains to rotate, by a limit spring be evenly arranged
3-RPR parallel institution assosting effect on walking four sides of jacking block makes the taper walking bar on two walking side chains permissible
At rough planting vegetable in greenhouse stabilized walking on the ground, damping performance is good, and stability is good, station when eliminating manual operation
Vertical shakiness reduces the situation of operating rate, applied widely.
Described rotary cutting apparatus of gathering includes the base plate of gathering being welded on mounting platform upper surface, in the middle part of base plate upper surface of gathering
Being welded with pole of gathering, the end of pole of gathering is welded with a platform of gathering, and the lower surface of a platform of gathering is symmetrically installed with four four
Number hydraulic cylinder, the top of four No. four hydraulic cylinders is provided with crawl platform, is driven by four No. four hydraulic cylinders and captures platforms and stablize
Oscilaltion campaign, capture and on the left of the upper surface of platform vegetable rotary-cut side chain be installed, the lower surface capturing platform is symmetrically welded with
Four capture vibration side chain, capture the vegetable gathered needed for vibration side chain captures automatically and by attached on vegetable root by four
The earth is vibrated on planting site, by vegetable rotary-cut side chain automatic rotary cutting vegetable root after earth vibration is complete, and rotary-cut
Vegetable after complete just can be collected;The described vibration side chain that captures includes being welded on the upper vertical plate capturing platform lower surface, on
The lower end of riser is provided with lower riser by hinge, the lower end of lower riser be provided with two capture hangers, two capture hanger it
Between by bearing, rotating shaft of gathering is installed, the middle part of rotating shaft of gathering is installed with two engaging lugs, the end of two engaging lugs
Being arranged on arc and capture the back of plate, arc is captured plate and can be rotated in rotating shaft gathering by two engaging lugs, and arc captures plate
Being provided with No. two limit spring between upper end and lower riser upper end, No. two limit spring capture plate upper end to arc and carry out spacing,
Arc captures the lower end of plate and is welded with connection support plate, connects and is provided with No. three spacing bullets between support plate upper end and lower riser lower end
Spring, No. three limit spring capture plate lower end to arc and carry out spacing, when arc captures and captures vegetable surface needed for plate is close to,
Arc captures plate and arbitrarily can rotate relative to the angle of inclination of planting site according to required crawl vegetable, and arc captures plate by two
Number limit spring, the position-limiting action up and down of No. three limit spring can be close to required capture vegetable surface, add vegetable
Capturing effect, the lower end of described lower riser is provided with two motor journal stirrups, two motor journal stirrups is provided with vibrating motor, passes through
The earth of attachment on vegetable root is vibrated on planting site by vibrating motor, pacifies between described lower riser upper end and upper vertical plate inwall
Equipped with capturing governor motion, crawl governor motion regulates the arc on lower riser and captures plate to capture required vegetable;Described grab
Take No. two ear mount that governor motion includes being welded on upper vertical plate inwall, between No. two ear mount, by bearing pin, electronic pushing away is installed
Bar, the top of electric pushrod is arranged between No. three ear mount by bearing pin, and No. three ear mount are welded on the upper surface of lower riser, logical
Cross electric pushrod and capture plate to capture required vegetable to the arc regulating on lower riser;Described vegetable rotary-cut side chain includes balanced welding
It is connected on the two rotary-cut poles captured on platform, the lower end inner wall of two rotary-cut poles is welded with rotation support plate, rotary-cut support plate
Inwall upper end is symmetrically installed with two No. five hydraulic cylinders, and the top of two No. five hydraulic cylinders is provided with L-type rotary-cut frame, L-type rotary-cut
The lower surface of frame is symmetrically arranged with two Z-type slide blocks, and two Z-type slide blocks respectively and pass through sliding matching mode between two chutes
Being connected, the left end of two chutes is all welded on rotation support plate inwall, by two Z-type slide blocks and the spacing slip of two chutes
Motion makes L-type rotary-cut frame make stable stretching motion under the driving of two No. five hydraulic cylinders, and described L-type rotary-cut frame upper end leads to
Cross motor cabinet and rotary-cut motor is installed, the output shaft of rotary-cut motor is installed with rotary-cut sheet, is revolved by rotary-cut driven by motor
Section rotary-cut, carrys out, by No. five hydraulic cylinder extensions rotary-cut sheet out, the vegetable root that high speed rotary-cut captures.During work, when this
When bright movement is to required vegetable crawl position, four No. four hydraulic cylinders work simultaneously, and four No. four hydraulic cylinders drive and capture platform work
Stable elevating movement, when capturing four below platform crawl vibration side chains and moving to suitable crawl position, No. four hydraulic cylinders stop
Only work, now four crawl vibration side chains start simultaneously at work, capture the electric pushrod on governor motion and drive lower riser to exist
Rotating on upper vertical plate, when the arc on riser captures crawl vegetable surface needed for plate touches instantly, electric pushrod quits work,
Four four arcs captured on vibration side chains capture plates tightly captured vegetable, come up owing to capturing on planting site just now
Vegetable root is attached to a large amount of earth, and now four four vibrating motors captured on vibration side chain are by attachment on vegetable root
Earth is vibrated on planting site, and after vegetable root earth shakes, vegetable rotary-cut side chain is started working, on vegetable rotary-cut side chain
Two No. five hydraulic cylinders are started working, and by the spacing sliding motion of two Z-type slide blocks and two chutes, L-type rotary-cut frame are existed
Making stable stretching motion under the driving of two No. five hydraulic cylinders, meanwhile rotary-cut motor is started working, rotary-cut driven by motor
Rotary-cut sheet high speed rotary-cut, carrys out, by two No. five hydraulic cylinder extensions rotary-cut sheet out, the vegetable root that high speed rotary-cut captures, from
And achieve the vibration to vegetable and gather function, speed of gathering is fast, and harvest efficiency is high.
During use, first pass through cultivation position needed for the present invention is moved vegetable by steady travelling platform, first pass through transmission and prop up
Driving motor on chain drives driving shaft to rotate, and driving shaft drives driving gear to rotate, and driving gear is in the auxiliary of driven gear
Lower drive driven shaft, driven shaft drives the taper walking bar on two walking side chains at two ends to rotate, by a limit spring
The taper on two walking side chains is made with the 3-RPR parallel institution assosting effect being evenly arranged on walking four sides of jacking block
Walking bar can be at rough planting vegetable in greenhouse stabilized walking on the ground, and damping performance is good, and stability is good, eliminates people
During work operation, astasia reduces the situation of operating rate, applied widely;When booth vegetable needs to gather, first pass through this
Bright moving to required vegetable crawl position from steady travelling platform, rotary cutting apparatus of gathering is started working, and four No. four hydraulic cylinders are simultaneously
Work, four No. four hydraulic cylinders drive crawl platform to make stable elevating movement, when capturing four below platform crawl vibration side chains
When moving to suitable crawl position, No. four hydraulic cylinders quit work, and now four crawl vibration side chains start simultaneously at work, capture
Electric pushrod on governor motion drives lower riser to rotate on upper vertical plate, and the plate of the crawl of the arc on riser instantly touches required
When capturing vegetable surface, electric pushrod quits work, and four four arcs captured on vibration side chain capture plate crawl tightly
Vegetable, the vegetable root owing to capturing up on planting site just now is attached to a large amount of earth, and now four capture on vibration side chains
Four vibrating motors by vegetable root attachment earth be vibrated on planting site, vegetable root earth shake after vegetable rotation
Cutting side chain to start working, two No. five hydraulic cylinders on vegetable rotary-cut side chain are started working, by two Z-type slide blocks and two cunnings
The spacing sliding motion of groove makes L-type rotary-cut frame make stable stretching motion under the driving of two No. five hydraulic cylinders, same with this
Time rotary-cut motor start working, rotary-cut driven by motor rotary-cut sheet high speed rotary-cut, by the rotation out of two No. five hydraulic cylinder extensions
Section carrys out the vegetable root that high speed rotary-cut captures, and speed of gathering is fast, and harvest efficiency is high, and the vibration finally achieving booth vegetable is adopted
Receiving function, it is not necessary to manual operation, automaticity is high.
The invention has the beneficial effects as follows:
1, the present invention drives four walking side chains of both sides automatically to work by two transmission branch chain, whole cultivating process without
Need manual operation, and the present invention define 3-RPR parallel institution by fixed platform, the side chain in parallel of three RPR types and moving platform,
3-RPR parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, walking
Side chain makes by a limit spring and the 3-RPR parallel institution assosting effect being evenly arranged on walking four sides of jacking block
Taper walking bar on two walking side chains can be at rough planting vegetable in greenhouse stabilized walking, damping performance on the ground
Good, stability is good, and when eliminating manual operation, astasia reduces the situation of operating rate, applied widely;
2, the present invention drives lower riser to rotate on upper vertical plate by capturing the electric pushrod on governor motion, now four
Four the arcs crawl plates capturing four lower risers on vibration side chain tightly capture vegetable, and the vegetable after crawl passes through four
Vibrating motor by vegetable root attachment earth be vibrated on planting site, earth shake complete after vegetable revolved by vegetable
Cut the rotary-cut sheet on side chain and carry out the vegetable root that high speed rotary-cut captures, it is achieved that function that the vibration of vegetable is gathered, speed of gathering
Hurry up, harvest efficiency is high;
3, the present invention solves needs manually long-term auxiliary operation, the work that existing booth vegetable artificial culture's mode exists
Intensity is big, plantation stability is poor, work efficiency low, speed of gathering is slow and the low inferior difficult problem of harvest efficiency, it is achieved that booth
The vibration of vegetable is gathered function, it is not necessary to manual operation, and automaticity is high, and there is plantation stability is good, work efficiency is high,
Speed of gathering is fast and harvest efficiency advantages of higher.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention;
Fig. 2 is the present invention the first structural representation from steady travelling platform;
Fig. 3 is the present invention the second structural representation from steady travelling platform;
Fig. 4 is the structural representation of shock-absorbing support mechanism of the present invention;
Fig. 5 is the structural representation of parallel connection side chain of the present invention;
Fig. 6 is the sectional view of parallel connection side chain of the present invention;
Fig. 7 is that the present invention gathers the structural representation of rotary cutting apparatus;
Fig. 8 is the structural representation that the present invention captures vibration side chain;
Fig. 9 is the full sectional view that the present invention captures vibration side chain;
Figure 10 is the structural representation of vegetable rotary-cut side chain of the present invention;
Figure 11 is the full sectional view of vegetable rotary-cut side chain of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figure 1 to 11, a kind of vegetable rotary-cut is gathered robot, including from steady travelling platform 1, from steady travelling platform
1 has good damping performance and stability, and the present invention can be made to work with being applicable to rough planting vegetable in greenhouse,
Described being provided with, on the right side of the upper surface of steady travelling platform 1, rotary cutting apparatus 4 of gathering, rotary cutting apparatus 4 of gathering can realize vegetable
Vibration gather function, speed of gathering is fast, and harvest efficiency is high.
Described include mounting platform 11 from steady travelling platform 1, the left and right sides, the lower surface symmetry peace of described mounting platform 11
Equipped with two transmission branch chain 12, and before and after each transmission branch chain 12, both sides are all symmetrically welded with two walking side chains 13, pass through
Transmission branch chain 12 drives walking side chain 13 in planting vegetable in greenhouse walking the most automatically, and cultivating process is without manual operation, work
Efficiency is high;Described transmission branch chain 12 includes being symmetrically welded at two pieces of fixed boards 121 of both sides before and after mounting platform 11 lower surface,
Being provided with driving shaft 122 by bearing between the upper end of two pieces of fixed boards 121, the middle part of driving shaft 122 is provided with by key
Driving gear 123, the front end of driving shaft 122 is provided with driving motor 124 by shaft coupling, and driving motor 124 passes through motor cabinet
It is arranged on the lower surface of mounting platform 11, between the lower end of two pieces of fixed boards 121, by bearing, driven shaft 125 is installed, from
The middle part of moving axis 125 is provided with driven gear 126 by key, and driven gear 126 is meshed with driving gear 123, driven shaft 125
Before and after two ends be symmetrically welded with two walking side chains 13, drive driving shaft 122 to rotate by driving motor 124, driving shaft 122
Driving driving gear 123 to rotate, driving gear 123 drives driven shaft 125 under the auxiliary of driven gear 126, and driven shaft 125 carries
Two walking side chains 13 at dynamic two ends are in planting vegetable in greenhouse walking the most automatically;Described walking side chain 13 includes that side is welded on
Walking jacking block 131 on driven shaft 125, walking jacking block 131 is square structure, on four sides of walking jacking block 131 respectively
Being provided with four shock-absorbing support mechanisms 132, four shock-absorbing support mechanism 132 upper ends are separately installed with four arc walking blocks 133,
All uniformly connect between adjacent two arcs walking block 133 and have a limit spring 134, and outside each arc walking block 133
All being evenly arranged with taper walking bar 135 on wall, taper walking bar 135 is pyramidal structure, by the present invention to planting vegetable in greenhouse
The walking pressure on ground concentrates on taper walking bar 135, improves the present invention walking stability energy when booth vegetable is cultivated,
A number limit spring 134 plays spacing and damping effect, and shock-absorbing support mechanism 132 has good damping performance and stability
Can so that the present invention walks on block 133 at the assosting effect arc lower of a limit spring 134 and shock-absorbing support mechanism 132
Taper walking bar 135 can be stablized and walks at rough planting vegetable in greenhouse, applied widely;Described driving gear
123 is 2:1 with the gear ratio of driven gear 126, is reduced the velocity of rotation of driven gear 126 by low gear ratio, thus
Reduce the side chain 13 speed of travel in planting vegetable in greenhouse ground of walking, further increase walking stability energy;Described subtract
Shake supporting mechanism 132 includes the fixed platform 136 being arranged in walking jacking block 131 corresponding side surface, and fixed platform 136 upper surface is along axis
Direction is uniformly provided with three side chains 137 in parallel, and the top of three side chains 137 in parallel is installed in the lower surface of moving platform 138
On, the upper surface uniform welding of moving platform 138 has three bar shapeds to prop up block 139, and bar shaped props up the upper surface of block 139 for walking with arc
The globoidal structure that block 133 is corresponding, the upper surface that block 139 is propped up in three bar shapeds is welded on the inwall of corresponding arc walking block 133,
Making three bar shapeds prop up block 139 can be to the corresponding arc walking strong support force of block 133;Described side chain 137 in parallel includes
It is welded on the matrix bearing 1371 of fixed platform 136 upper surface, lower limit axle 1372 is installed between the middle part of matrix bearing 1371,
Two arc-shaped limit groove 1371a it are symmetrically arranged with on the upper end inwall of matrix bearing 1371;On described lower limit axle, 1372 is sheathed
Having a hydraulic cylinder 1373, the both sides, bottom of a hydraulic cylinder 1373 are provided with two gag lever posts 1374, two gag lever posts 1374
End and two arc-shaped limit groove 1371a between by sliding matching mode be connected, two gag lever posts 1374 and two arcs
The slewing area limiting hydraulic cylinder 1373 bottom is played in motion between stopper slot 1371a, also prevent a hydraulic cylinder
The situation that 1373 bottoms move left and right, due to the present invention often in the walking on the ground of rough planting vegetable in greenhouse, and passes through
Two gag lever posts 1374 and two arc-shaped limit groove 1371a can strengthen hydraulic cylinder 1373 bottom on 1372 turns of lower limit axle
Stability time dynamic, improves service behaviour;The top of a described hydraulic cylinder 1373 is provided with spherical connector by screw thread
1375, the two ends of spherical connector 1375 are symmetrically arranged with two upper limit axles 1376, and two upper limit axles 1376 are respectively with one
All it is connected by bearing between the two ends of number ear mount 1377, the lower surface inwall of an ear mount 1377 is welded with locating dowel
1378, the end of locating dowel 1378 is the matrix spherical structure corresponding with spherical connector 1375, the end of locating dowel 1378
Being connected by sliding matching mode with between spherical connector 1375, the upper surface of an ear mount 1377 is welded on moving platform 138
On, the motion of spherical connector 1375 is limited and supports by locating dowel 1378, so that on spherical connector 1375
Two upper limit axles 1376 can stablize rotation in an ear mount 1377, enhances when hydraulic cylinder 1373 top rotates
Stability, improves service behaviour, and the R formed when matrix bearing 1371 rotates by a hydraulic cylinder 1373 is secondary, a liquid
The R pair that the P formed when cylinder pressure 1373 works is secondary, hydraulic cylinder 1373 is formed when an ear mount 1377 rotates constitutes RPR
The side chain in parallel 137 of type, and the present invention defined by the side chain in parallel 137 of 136, three RPR types of fixed platform and moving platform 138
3-RPR parallel institution, 3-RPR parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and motion essence
Degree advantages of higher, the advantage by 3-RPR parallel institution makes the present invention have well when planting vegetable in greenhouse walking on the ground
Damping performance and stability, when eliminating manual operation astasia reduce operating rate situation, the scope of application is big.Work
When making, first passing through the driving motor 124 in transmission branch chain 12 and drive driving shaft 122 to rotate, driving shaft 122 drives driving gear
123 rotate, and driving gear 123 drives driven shaft 125 under the auxiliary of driven gear 126, and driven shaft 125 drives two of two ends
Taper walking bar 135 on walking side chain 13 rotates, by a limit spring 134 be evenly arranged in walking jacking block 131 4
3-RPR parallel institution assosting effect on individual side makes the taper on two walking side chains 13 walk bar 135 can be concavo-convex
Uneven planting vegetable in greenhouse stabilized walking on the ground, damping performance is good, and stability is good, astasia when eliminating manual operation
Reduce the situation of operating rate, applied widely.
Described rotary cutting apparatus 4 of gathering includes the base plate 41 of gathering being welded on mounting platform 11 upper surface, gathers on base plate 41
Being welded with pole 42 of gathering in the middle part of end face, the end of pole 42 of gathering is welded with a platform 43 of gathering, the lower surface of a platform 43 of gathering
Being symmetrically installed with four No. four hydraulic cylinders 44, the top of four No. four hydraulic cylinders 44 is provided with crawl platform 45, by four No. four
Hydraulic cylinder 44 drives crawl platform 45 to make stable oscilaltion campaign, is provided with vegetable rotary-cut and props up on the left of the upper surface of crawl platform 45
Chain 46, the lower surface capturing platform 45 is symmetrically welded with four crawl vibration side chains 47, captures vibration side chains 47 by four automatic
The vegetable gathered needed for crawl and the earth of attachment on vegetable root is vibrated on planting site, logical after earth vibration is complete
Crossing vegetable rotary-cut side chain 46 automatic rotary cutting vegetable root, the vegetable after rotary-cut is complete just can be collected;Described crawl is vibrated
Side chain 47 includes being welded on the upper vertical plate 471 capturing platform 45 lower surface, and the lower end of upper vertical plate 471 is provided with lower riser by hinge
472, the lower end of lower riser 472 is provided with two and captures hanger 473, is provided with by bearing and adopts between two crawl hangers 473
Receiving rotating shaft 474, the middle part of rotating shaft 474 of gathering is installed with two engaging lugs 475, and the end of two engaging lugs 475 is arranged on
Arc captures the back of plate 476, and arc is captured plate 476 and can be rotated in rotating shaft 474 gathering by two engaging lugs 475, arc
Capturing and be provided with No. two limit spring 477 between plate 476 upper end and lower riser 472 upper end, arc is grabbed by No. two limit spring 477
Take plate 476 upper end and carry out spacing, arc capture plate 476 lower end be welded with connection support plate 478, connect support plate 478 upper end with under
Being provided with No. three limit spring 479 between riser 472 lower end, No. three limit spring 479 capture plate 476 lower end to arc and limit
Position, when arc captures and captures vegetable surface needed for plate 476 is close to, arc captures plate 476 can be according to required crawl vegetable phase
Angle of inclination for planting site arbitrarily rotates, and arc captures plate 476 by 477, No. three limit spring of No. two limit spring
The position-limiting action up and down of 479 can be close to required crawl vegetable surface, adds the crawl effect of vegetable, described lower riser
The lower end of 472 is provided with two motor journal stirrups 480, and two motor journal stirrups 480 are provided with vibrating motor 481, by vibration electricity
The earth of attachment on vegetable root is vibrated on planting site by machine 481, described lower riser 472 upper end and upper vertical plate 471 inwall it
Between crawl governor motion 482 is installed, capture governor motion 482 and regulate arc on lower riser 472 and capture plate 476 and capture
Required vegetable;Described crawl governor motion 482 includes No. two ear mount 4821 being welded on upper vertical plate 471 inwall, No. two ear mount
Being provided with electric pushrod 4822 by bearing pin between 4821, the top of electric pushrod 4822 is arranged on No. three ear mount by bearing pin
Between 4823, No. three ear mount 4823 are welded on the upper surface of lower riser 472, regulate lower riser by electric pushrod 4822
Arc on 472 captures plate 476 and captures required vegetable;Described vegetable rotary-cut side chain 46 includes being symmetrically welded on crawl platform 45
Two rotary-cut poles 461, the lower end inner wall of two rotary-cut poles 461 is welded with rotation support plate 462, rotary-cut support plate 462
Inwall upper end is symmetrically installed with two No. five hydraulic cylinders 463, and the top of two No. five hydraulic cylinders 463 is provided with L-type rotary-cut frame
464, the lower surface of L-type rotary-cut frame 464 is symmetrically arranged with two Z-type slide blocks 465, two Z-type slide blocks 465 respectively with two chutes
Being connected by sliding matching mode between 466, the left end of two chutes 466 is all welded on rotation support plate 462 inwall, by two
The spacing sliding motion of individual Z-type slide block 465 and two chutes 466 makes L-type rotary-cut frame 464 at two No. five hydraulic cylinders 463
Making stable stretching motion under driving, described L-type rotary-cut frame 464 upper end is provided with rotary-cut motor 467, rotary-cut electricity by motor cabinet
It is installed with rotary-cut sheet 468 on the output shaft of machine 467, drives rotary-cut sheet 468 rotary-cut by rotary-cut motor 467, by No. five
The vegetable root that the rotary-cut sheet 468 high speed rotary-cut that hydraulic cylinder 463 telescopes out captures.During work, when the present invention moves to institute
When needing vegetable crawl position, four No. four hydraulic cylinders 44 work simultaneously, and four No. four hydraulic cylinders 44 drive crawl platform 45 to stablize
Elevating movement, when capturing No. four hydraulic cylinders 44 when four below platform 45 crawl vibration side chains 47 move to suitable crawl position
Quitting work, now four crawl vibration side chains 47 start simultaneously at work, and the electric pushrod 4822 captured on governor motion 482 carries
Dynamic lower riser 472 rotates on upper vertical plate 471, and the arc on riser 472 captures plate 476 and touches required crawl vegetable table instantly
During face, electric pushrod 4822 quits work, and four four arcs captured on vibration side chain 47 capture plate 476 crawl tightly
Vegetable, the vegetable root owing to capturing up on planting site just now is attached to a large amount of earth, and now four capture vibration side chain 47
On four vibrating motors 481 by vegetable root attachment earth be vibrated on planting site, after vegetable root earth shakes
Vegetable rotary-cut side chain 46 is started working, and two No. five hydraulic cylinders 463 on vegetable rotary-cut side chain 46 are started working, by two Z
The spacing sliding motion of type slide block 465 and two chutes 466 makes L-type rotary-cut frame 464 in the driving of two No. five hydraulic cylinders 463
Lower making stable stretching motion, meanwhile rotary-cut motor 467 is started working, and rotary-cut motor 467 drives rotary-cut sheet 468 high-speed rotary
Cut, the vegetable root that the rotary-cut sheet 468 high speed rotary-cut telescoped out by two No. five hydraulic cylinders 463 is captured, thus realize
Gathering the vibration of vegetable function, speed of gathering is fast, and harvest efficiency is high.
During use, first pass through cultivation position needed for the present invention is moved vegetable by steady travelling platform 1, first pass through transmission and prop up
Driving motor 124 on chain 12 drives driving shaft 122 to rotate, and driving shaft 122 drives driving gear 123 to rotate, driving gear 123
Driving driven shaft 125 under the auxiliary of driven gear 126, driven shaft 125 drives the taper on two walking side chains 13 at two ends
Walking bar 135 rotates, in parallel by a limit spring 134 and the 3-RPR being evenly arranged on walking 131 4 sides of jacking block
Mechanism's assosting effect makes the taper on two walking side chains 13 walk bar 135 can be on rough planting vegetable in greenhouse ground
Upper stabilized walking, damping performance is good, and stability is good, and when eliminating manual operation, astasia reduces the situation of operating rate,
Applied widely;When booth vegetable needs to gather, first pass through the present invention and move to required vegetable crawl position from steady travelling platform 1
Putting, rotary cutting apparatus 4 of gathering is started working, and four No. four hydraulic cylinders 44 work simultaneously, and four No. four hydraulic cylinders 44 drive and capture platform
45 make stable elevating movement, when capturing when four below platform 45 crawl vibration side chains 47 move to suitable crawl position No. four
Hydraulic cylinder 44 quits work, and now four capture vibration side chains 47 and start simultaneously at work, and capture on governor motion 482 electronic pushes away
Bar 4822 drives lower riser 472 to rotate on upper vertical plate 471, and the arc on riser 472 captures needed for plate 476 touches and grabs instantly
When taking vegetable surface, electric pushrod 4822 quits work, and four four arcs captured on vibration side chain 47 capture plate 476 tightly
Captured vegetable, owing to the vegetable root captured up on planting site just now is attached to a large amount of earth, now four crawls are shaken
The earth of attachment on vegetable root is vibrated on planting site by four vibrating motors 481 on dynamic side chain 47, vegetable root earth
After shaking, vegetable rotary-cut side chain 46 is started working, and two No. five hydraulic cylinders 463 on vegetable rotary-cut side chain 46 are started working, logical
The spacing sliding motion crossing two Z-type slide blocks 465 and two chutes 466 makes L-type rotary-cut frame 464 at two No. five hydraulic cylinders
Making stable stretching motion under the driving of 463, meanwhile rotary-cut motor 467 is started working, and rotary-cut motor 467 drives rotary-cut sheet
468 high speed rotary-cuts, the vegetable root that the rotary-cut sheet 468 high speed rotary-cut telescoped out by two No. five hydraulic cylinders 463 is captured,
Speed of gathering is fast, and harvest efficiency is high, finally achieves booth vegetable and vibrates energy of gathering automatically, it is not necessary to manual operation, automatization
Degree is high, solves needs manually long-term auxiliary operation that existing booth vegetable artificial culture's mode exists, labor intensity is big, plant
Plant that stability is poor, work efficiency low, speed of gathering is slow and the low inferior difficult problem of harvest efficiency, has reached purpose.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (4)
1. a vegetable rotary-cut is gathered robot, it is characterised in that: include from steady travelling platform (1), described from steady travelling platform
(1) rotary cutting apparatus of gathering (4) is installed on the right side of upper surface;Described include mounting platform (11) from steady travelling platform (1), described
The left and right sides, lower surface of mounting platform (11) is symmetrically installed with two transmission branch chain (12), and before each transmission branch chain (12)
Rear both sides are all symmetrically welded with two walkings side chain (13);Described transmission branch chain (12) includes being symmetrically welded at mounting platform (11)
Before and after lower surface, two pieces of fixed boards (121) of both sides, are provided with master by bearing between the upper end of two pieces of fixed boards (121)
Moving axis (122), the middle part of driving shaft (122) is provided with driving gear (123) by key, and the front end of driving shaft (122) is by connection
Axial organ is provided with driving motor (124), and driving motor (124) is arranged on the lower surface of mounting platform (11) by motor cabinet, and two
Being provided with driven shaft (125) by bearing between the lower end of block fixed board (121), the middle part of driven shaft (125) is pacified by key
Equipped with driven gear (126), driven gear (126) is meshed with driving gear (123), two ends pair before and after driven shaft (125)
Claim to be welded with two walkings side chain (13);Described walking side chain (13) includes the walking top that side is welded on driven shaft (125)
Block (131), walking jacking block (131) is square structure, and four sides of walking jacking block (131) are separately installed with four dampings
Supporting mechanism (132), four shock-absorbing support mechanism (132) upper ends are separately installed with four arcs walking block (133), adjacent two
All uniformly connect between arc walking block (133) and have a limit spring (134), and the outer wall of each arc walking block (133)
On be all evenly arranged with taper walking bar (135);It is right that described shock-absorbing support mechanism (132) includes being arranged on walking jacking block (131)
Answering the fixed platform (136) on side, fixed platform (136) upper surface is the most uniformly provided with three side chains in parallel (137),
The top of three side chains in parallel (137) is installed on the lower surface of moving platform (138), and the upper surface of moving platform (138) is uniform
Being welded with three bar shapeds and prop up block (139), it is the cambered surface corresponding with arc walking block (133) that the upper surface of block (139) is propped up in bar shaped
Structure, the upper surface that block (139) is propped up in three bar shapeds is welded on the inwall of corresponding arc walking block (133);
Described rotary cutting apparatus of gathering (4) includes the base plate of gathering (41) being welded on mounting platform (11) upper surface, base plate of gathering
(41) being welded with pole of gathering (42) in the middle part of upper surface, the end of pole of gathering (42) is welded with a platform (43) of gathering, and gathers and props up
The lower surface of platform (43) is symmetrically installed with four No. four hydraulic cylinders (44), and the top of four No. four hydraulic cylinders (44) is provided with crawl
Platform (45), captures and is provided with vegetable rotary-cut side chain (46) on the left of the upper surface of platform (45), capture the lower surface balanced welding of platform (45)
It is connected to four and captures vibration side chain (47);Described crawl vibration side chain (47) includes being welded on the upper vertical of crawl platform (45) lower surface
Plate (471), the lower end of upper vertical plate (471) is provided with lower riser (472) by hinge, and the lower end of lower riser (472) is provided with two
Individual crawl hanger (473), is provided with rotating shaft of gathering (474), rotating shaft of gathering by bearing between two crawls hanger (473)
(474) middle part is installed with two engaging lugs (475), and the end of two engaging lugs (475) is arranged on arc and captures plate
(476) back, arc captures and is provided with No. two limit spring (477) between plate (476) upper end and lower riser (472) upper end,
Arc captures the lower end of plate (476) and is welded with connection support plate (478), connect support plate (478) upper end and lower riser (472) lower end it
Between No. three limit spring (479) are installed, the lower end of described lower riser (472) is provided with two motor journal stirrups (480), two electricity
Vibrating motor (481) is installed on machine journal stirrup (480), installs between described lower riser (472) upper end and upper vertical plate (471) inwall
There is crawl governor motion (482);Described vegetable rotary-cut side chain (46) includes being symmetrically welded at two rotary-cuts captured on platform (45)
Pole (461), the lower end inner wall of two rotary-cut poles (461) is welded with rotation support plate (462), rotary-cut support plate (462) interior
Wall upper end is symmetrically installed with two No. five hydraulic cylinders (463), and the top of two No. five hydraulic cylinders (463) is provided with L-type rotary-cut frame
(464), the lower surface of L-type rotary-cut frame (464) is symmetrically arranged with two Z-type slide blocks (465), two Z-type slide blocks (465) respectively with
Being connected by sliding matching mode between two chutes (466), the left end of two chutes (466) is all welded on rotation support plate
(462), on inwall, described L-type rotary-cut frame (464) upper end is provided with rotary-cut motor (467), rotary-cut motor (467) by motor cabinet
Output shaft on be installed with rotary-cut sheet (468).
A kind of vegetable rotary-cut the most according to claim 1 is gathered robot, it is characterised in that: described driving gear (123)
It is 2:1 with the gear ratio of driven gear (126).
A kind of vegetable rotary-cut the most according to claim 1 is gathered robot, it is characterised in that: described side chain (137) in parallel
Including being welded on the matrix bearing (1371) of fixed platform (136) upper surface, it is provided with down between the middle part of matrix bearing (1371)
Limit shaft (1372), the upper end inwall of matrix bearing (1371) is symmetrically arranged with two arc-shaped limit grooves (1371a);Under described
On limit shaft, (1372) are arranged with a hydraulic cylinder (1373), the both sides, bottom of a hydraulic cylinder (1373) be provided with two spacing
Bar (1374), by sliding matching mode phase between end and two arc-shaped limit grooves (1371a) of two gag lever posts (1374)
Even;The top of a described hydraulic cylinder (1373) is provided with spherical connector (1375), spherical connector (1375) by screw thread
Two ends be symmetrically arranged with two upper limit axles (1376), two upper limit axles (1376) respectively with the two of an ear mount (1377)
All it is connected by bearing between end, the lower surface inwall of an ear mount (1377) is welded with locating dowel (1378), locating dowel
(1378) end is the matrix spherical structure corresponding with spherical connector (1375), and the end of locating dowel (1378) is with spherical
Being connected by sliding matching mode between union joint (1375), the upper surface of an ear mount (1377) is welded on moving platform (138)
On.
A kind of vegetable rotary-cut the most according to claim 1 is gathered robot, it is characterised in that: described crawl governor motion
(482) include No. two ear mount (4821) being welded on upper vertical plate (471) inwall, pacified by bearing pin between No. two ear mount (4821)
Equipped with electric pushrod (4822), the top of electric pushrod (4822) is arranged between No. three ear mount (4823) by bearing pin, No. three
Ear mount (4823) is welded on the upper surface of lower riser (472).
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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CN201610522431.3A CN106182022B (en) | 2016-07-06 | 2016-07-06 | A kind of vegetables rotary-cut harvesting robot |
CN201810077152.XA CN108274474A (en) | 2016-07-06 | 2016-07-06 | A kind of ecological agriculture booth vegetable recovery operations intelligence equipment |
Applications Claiming Priority (1)
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CN201610522431.3A CN106182022B (en) | 2016-07-06 | 2016-07-06 | A kind of vegetables rotary-cut harvesting robot |
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CN201810077152.XA Division CN108274474A (en) | 2016-07-06 | 2016-07-06 | A kind of ecological agriculture booth vegetable recovery operations intelligence equipment |
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CN106182022A true CN106182022A (en) | 2016-12-07 |
CN106182022B CN106182022B (en) | 2018-08-14 |
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CN201810077152.XA Withdrawn CN108274474A (en) | 2016-07-06 | 2016-07-06 | A kind of ecological agriculture booth vegetable recovery operations intelligence equipment |
CN201610522431.3A Active CN106182022B (en) | 2016-07-06 | 2016-07-06 | A kind of vegetables rotary-cut harvesting robot |
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CN201810077152.XA Withdrawn CN108274474A (en) | 2016-07-06 | 2016-07-06 | A kind of ecological agriculture booth vegetable recovery operations intelligence equipment |
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Cited By (4)
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CN108901302A (en) * | 2018-09-03 | 2018-11-30 | 冯小宇 | A kind of vegetable harvester |
CN108990531A (en) * | 2018-08-13 | 2018-12-14 | 刘荷花 | A kind of booth vegetable harvesting robotic |
CN108994812A (en) * | 2018-08-14 | 2018-12-14 | 河南越盛信息技术有限公司 | Pharmaceutical manufacturing line intelligent robot and Intelligent Production System |
CN109648233A (en) * | 2019-02-24 | 2019-04-19 | 田蜜香 | A kind of box welding robot |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN112369198B (en) * | 2020-10-14 | 2021-10-29 | 温州科技职业学院 | Cutting and separating device for cauliflower ball-and-flower used in field |
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CN203801257U (en) * | 2014-04-16 | 2014-09-03 | 江苏农林职业技术学院 | Plug seedling transplanting mechanical arm |
CN105615609A (en) * | 2014-10-25 | 2016-06-01 | 傅国要 | Kitchen robot |
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US4042122A (en) * | 1975-05-27 | 1977-08-16 | The Bendix Corporation | Reorientation device for an object manipulator |
CN201938117U (en) * | 2010-12-03 | 2011-08-24 | 浙江理工大学 | Matching mechanism for seedlings to be grafted for vegetable and fruit grafting machine based on visual sense |
CN102528817A (en) * | 2012-01-13 | 2012-07-04 | 燕山大学 | Three-degree-of-freedom parallel-connection mechanical wrist |
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CN108990531A (en) * | 2018-08-13 | 2018-12-14 | 刘荷花 | A kind of booth vegetable harvesting robotic |
CN108990531B (en) * | 2018-08-13 | 2021-08-06 | 蔚蓝计划(北京)科技有限公司 | Greenhouse vegetable harvesting robot |
CN108994812A (en) * | 2018-08-14 | 2018-12-14 | 河南越盛信息技术有限公司 | Pharmaceutical manufacturing line intelligent robot and Intelligent Production System |
CN108994812B (en) * | 2018-08-14 | 2021-07-16 | 浙江大学滨海产业技术研究院 | Intelligent robot for pharmaceutical production line and intelligent production system |
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CN109648233A (en) * | 2019-02-24 | 2019-04-19 | 田蜜香 | A kind of box welding robot |
CN109648233B (en) * | 2019-02-24 | 2020-11-17 | 安徽普华灵动机器人科技有限公司 | Square frame welding robot |
Also Published As
Publication number | Publication date |
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CN108274474A (en) | 2018-07-13 |
CN106182022B (en) | 2018-08-14 |
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