CN114698469A - Black-skin wax gourd picking machine and picking method - Google Patents
Black-skin wax gourd picking machine and picking method Download PDFInfo
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- CN114698469A CN114698469A CN202210403384.6A CN202210403384A CN114698469A CN 114698469 A CN114698469 A CN 114698469A CN 202210403384 A CN202210403384 A CN 202210403384A CN 114698469 A CN114698469 A CN 114698469A
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- 244000036905 Benincasa cerifera Species 0.000 title claims abstract description 142
- 235000011274 Benincasa cerifera Nutrition 0.000 title claims abstract description 142
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 77
- 238000010008 shearing Methods 0.000 claims abstract description 20
- 229910000831 Steel Inorganic materials 0.000 claims description 42
- 239000010959 steel Substances 0.000 claims description 42
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 5
- 238000003306 harvesting Methods 0.000 abstract description 32
- 230000007547 defect Effects 0.000 abstract description 2
- 241000219112 Cucumis Species 0.000 description 3
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 description 3
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 241000219122 Cucurbita Species 0.000 description 1
- 235000009852 Cucurbita pepo Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012174 chinese wax Substances 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 239000001993 wax Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a black-peel wax gourd picking machine and a picking method, wherein the black-peel wax gourd picking machine comprises crawler wheels, a rack and a harvesting device, the rack is arranged on the crawler wheels, the harvesting device is arranged inside the rack, the harvesting device comprises a scissor type telescopic mechanism, a hydraulic cylinder, a clamping mechanism and a four-degree-of-freedom shearing mechanism, the hydraulic cylinder is connected with the scissor type telescopic mechanism, one end of the scissor type telescopic mechanism is respectively connected with the clamping mechanism and the four-degree-of-freedom shearing mechanism, and the other end of the scissor type telescopic mechanism is connected with the rack. The invention can overcome the defects of more labor force and high labor intensity in the prior art for harvesting the black-skinned wax gourd, can effectively reduce the labor intensity, saves the labor force and improves the harvesting efficiency.
Description
Technical Field
The invention relates to a black-peel wax gourd picking machine and a black-peel wax gourd transplanting method, and belongs to the field of agricultural product harvesting machinery.
Background
The planting area of Chinese wax gourd and segmented melon is about 600 ten thousand mu, the market value can reach 1000 hundred million yuan, the area of Guangdong is about 100 ten thousand mu, and most areas are planted with black-skinned wax gourd. The length of the black-peel wax gourd is about 70 cm, the transverse diameter is about 25 cm, and the weight of each single wax gourd is about 20 kg. The planting mode of the black-skinned wax gourd mainly comprises ground climbing cultivation, flat-shed frame cultivation and herringbone-shed frame cultivation, and the herringbone-shed frame cultivation is convenient to build because the ground climbing cultivation can be avoided and the melon body is easy to be soaked in water to damage, and the cost is lower than that of the flat-shed frame cultivation, so that the herringbone-shed frame cultivation becomes the main black-skinned wax gourd planting mode.
At present, the harvesting of the black-skin white gourd mainly depends on manual picking and loading, the labor intensity is high, the harvesting cost is high, and the patent application document (application number: 202010378390.1) discloses a black-skin white gourd harvesting device which is only used as an auxiliary harvesting device and a powerless device, is pushed by manpower, has low efficiency and depends on the characteristics of human operation, and does not meet the requirements of agricultural modernization development.
Disclosure of Invention
The invention aims to overcome the defects that the harvesting of the black-skinned wax gourd in the prior art needs more labor and has high labor intensity, and provides the black-skinned wax gourd picking machine which can effectively reduce the labor intensity, save the labor and improve the harvesting efficiency.
The second purpose of the invention is to provide a picking method of the white gourd with black skin, which is realized based on the white gourd picking machine with black skin.
The first purpose of the invention can be achieved by adopting the following technical scheme:
the utility model provides a black skin wax gourd picking machine, includes athey wheel, frame and results device, the frame sets up on the athey wheel, results device sets up in the inside of frame, and results device shears the mechanism including cutting fork telescopic machanism, pneumatic cylinder, fixture and four degrees of freedom, the pneumatic cylinder with cut fork telescopic machanism and be connected, the one end of cutting fork telescopic machanism shears the mechanism with fixture, four degrees of freedom respectively and is connected, cuts fork telescopic machanism's the other end and is connected with the frame.
Furthermore, the clamping mechanism comprises a mechanical arm, a moving block and a telescopic oil cylinder, wherein the telescopic oil cylinder is connected with one end of the scissor type telescopic mechanism and is connected with the mechanical arm through the moving block.
Furthermore, the telescopic oil cylinder comprises a telescopic cylinder body and a telescopic rod, the telescopic cylinder body is connected with one end of the scissor type telescopic mechanism, and the telescopic rod is movably connected with the telescopic cylinder body and is connected with the manipulator through a moving block.
Furthermore, the tail end of the manipulator is provided with a soft deformable material.
Further, the scissor type telescopic mechanism comprises a frame body, a long-strip-shaped steel plate, a square fixed block, a connecting steel plate and a steel pipe;
the long-strip-shaped steel plates are symmetrically arranged on two sides, 2N long-strip-shaped steel plates are arranged on each side, the 2N long-strip-shaped steel plates are connected in a parallelogram mode, and the long-strip-shaped steel plates on the two sides are fixed together through steel pipes and square fixing blocks to form a scissor type telescopic part; wherein N is a natural number greater than or equal to 2;
the frame body is connected with the long-strip-shaped steel plate at one end of the scissor type telescopic part through a hinge and a rolling support, so that the frame body serves as one end of the scissor type telescopic mechanism, the other end of the scissor type telescopic part serves as the other end of the scissor type telescopic mechanism, and the long-strip-shaped steel plate at the other end of the scissor type telescopic part is connected with the rack through the hinge and the rolling support;
the clamping mechanism is connected with the middle of the frame body, and the four-degree-of-freedom shearing mechanism is connected with the upper portion of the frame body.
Further, the four degrees of freedom of the four-degree-of-freedom shearing mechanism are respectively one Z-axis rotational degree of freedom, two X-axis rotational degrees of freedom and one shearing degree of freedom.
Further, still include vision device, vision device includes vision camera and camera dead lever, the vision camera passes through the camera dead lever and is connected with cutting fork telescopic machanism for the position of discernment and location black skin wax gourd and black skin wax gourd stalk.
Further, still including loading the mobile device, loading the mobile device setting in the inside of frame, including stay tube, hydraulic pressure rotary motor, thrust wheel, transmission band and wax gourd base, the one end and hydraulic pressure rotary motor, thrust wheel fixed connection of stay tube, the other end and the frame of stay tube are connected, hydraulic pressure rotary motor is connected with the transmission band, and hydraulic pressure rotary motor's axle center is parallel with the axle center of thrust wheel, thrust wheel evenly distributed, the transmission band is connected with the laminating of wax gourd base.
Furthermore, the crawler wheels are two, the two crawler wheels are symmetrically arranged on two sides, each crawler wheel is provided with two hydraulic walking motors and three bearing wheels, stators and the bearing wheels of the hydraulic walking motors are fixed at corresponding positions through square steel and are fixedly connected with the rack, and the hydraulic walking motors are connected with the crawler.
The second purpose of the invention can be achieved by adopting the following technical scheme:
a picking method of black-skinned wax gourds is realized based on the black-skinned wax gourds picking machine, and comprises the following steps:
controlling the black-skinned wax gourd picking machine to walk, and when the recognition device recognizes the black-skinned wax gourd, stopping the black-skinned wax gourd picking machine from walking, and controlling the scissor type telescopic mechanism to extend out;
when the recognition device recognizes that the manipulator of the clamping mechanism reaches a certain distance in front of the black-skinned wax gourd, the scissor type telescopic mechanism stops extending;
controlling a manipulator of the clamping mechanism to fold and clamp the black-skinned wax gourd;
the recognition device positions the positions of the stems of the black-skinned wax gourds, so that the four-degree-of-freedom shearing mechanism moves to a certain position in front of the stems of the black-skinned wax gourds to shear the stems of the black-skinned wax gourds;
when the stems of the black-skinned wax gourds are cut off, the scissor type telescopic mechanism is controlled to extend continuously, so that the manipulator of the clamping mechanism moves the clamped black-skinned wax gourds to be right above a wax gourds base of the loading and moving device;
the manipulator of control fixture loosens, and black skin wax gourd places on the wax gourd base to make the wax gourd fixed on the wax gourd base, load the position that the mobile device removed a wax gourd base, wait for the loading of next black skin wax gourd.
Compared with the prior art, the invention has the following beneficial effects:
1. the black-peel wax gourd picking machine disclosed by the invention adopts ridge-crossing operation and hydraulic drive crawler belt walking, can be well suitable for the complex environment of a Chinese character 'ren' shaped trellis cultivation wax gourd field, realizes the harvesting of black-peel wax gourd in the complex environment, adopts a hydraulic drive mode which is easy to realize automatic control, reduces the labor intensity and saves the operation cost, wherein the harvesting device adopts hydraulic drive, can output larger thrust, can clamp 30 kilograms of black-peel wax gourd, and can realize the harvesting of heavier black-peel wax gourd.
2. The black-skinned wax gourd picking machine can also be provided with an identification device, the identification device can identify wax gourd and position the position of the wax gourd by combining an algorithm, and accurate picking of the black-skinned wax gourd can be realized; can also load the mobile device, load the intelligent of mobile device can realize black skin wax gourd through the mode of "shifting" and load a plurality of black skin wax gourd on one side.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a whole structure diagram of a black-skinned wax gourd picking machine according to an embodiment of the present invention.
Fig. 2 is a structural diagram of a harvesting device in the black-skinned wax gourd picking machine according to the embodiment of the present invention.
Fig. 3 is a structural diagram of a loading moving device in the black white gourd picking machine according to the embodiment of the present invention.
Wherein, 1-crawler wheel, 11-hydraulic walking motor, 12-bearing wheel, 2-frame, 3-harvesting device, 31-scissor type telescopic mechanism, 311-frame, 312-long steel plate, 313-square fixed block, 314-connecting steel plate, 315-steel pipe, 32-hydraulic cylinder, 33-mechanical arm, 34-moving block, 35-telescopic oil cylinder, 351-telescopic cylinder body, 352-telescopic rod, 36-hinge, 37-rolling support, 38-four-degree-of-freedom shearing mechanism, 4-identification device, 41-visual camera, 42-camera fixed rod, 5-loading moving device, 51-support pipe, 52-hydraulic rotating motor, 53-support wheel, 54-transmission belt, 55-wax gourd base, 551-pit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
The embodiment is as follows:
as shown in fig. 1, the present embodiment provides a black white gourd picking machine, which can be used for harvesting a herringbone trellis cultivation, and includes a track wheel 1, a frame 2, and a harvesting device 3, wherein the frame 2 is disposed on the track wheel 1, and the harvesting device 3 is disposed inside the frame 2.
As shown in fig. 1 and 2, the harvesting device 3 comprises a scissor type telescopic mechanism 31, a hydraulic cylinder 32, a clamping mechanism and a four-degree-of-freedom shearing mechanism 38, wherein the hydraulic cylinder 32 is connected with the scissor type telescopic mechanism 31, one end of the scissor type telescopic mechanism 31 is respectively connected with the clamping mechanism and the four-degree-of-freedom shearing mechanism 38, and the other end of the scissor type telescopic mechanism 31 is connected with the frame 2; wherein the hydraulic cylinder 32 is a double acting hydraulic cylinder.
Further, the scissor type telescopic mechanism 31 includes a frame 311, a long steel plate 312, a square fixing block 313, a connecting steel plate 314, and a steel pipe 315.
The strip-shaped steel plates 312 are symmetrically arranged on the left side and the right side, the strip-shaped steel plates 312 on each side are provided with four strip-shaped steel plates 312, eight strip-shaped steel plates 312 are total, the strip-shaped steel plates 312 on each side are connected in a parallelogram mode, and the strip-shaped steel plates on the left side and the right side are fixed together through steel pipes and square fixing blocks to form a scissor type telescopic part.
The two steel pipes 315 are connected with the hydraulic cylinder 32 through the connecting steel plates 314, the frame body 311 is formed by welding square steel, the frame body 311 is connected with the long-strip-shaped steel plate 312 at one end of the scissor type telescopic part through the hinge 36 and the rolling support 37, so that the frame body 311 serves as one end of the scissor type telescopic mechanism 31, the other end of the scissor type telescopic part serves as the other end of the scissor type telescopic mechanism 31, the long-strip-shaped steel plate 312 at the other end of the scissor type telescopic part is connected with the rack 2 through the hinge 36 and the rolling support 37, the end of the hinge 36 can rotate, and the end of the rolling support 37 can vertically move up and down along the rack 2.
Further, the number of the clamping mechanisms is two, the black-peel white gourd can be better clamped through the two clamping mechanisms, each clamping mechanism is connected with one end of the scissor type telescopic mechanism 31, each clamping mechanism comprises a manipulator 33, a moving block 34 and a telescopic oil cylinder 35, the telescopic oil cylinder 35 is connected with one end of the scissor type telescopic mechanism 31, specifically connected with the middle of the frame body 311 and connected with the manipulator 33 through the moving block 34, the manipulator 33 can be driven to open and close through the telescopic oil cylinder 35, and the clamping function can be achieved during closing.
Specifically, the telescopic cylinder 35 comprises a telescopic cylinder body 351 and a telescopic rod 352, the telescopic cylinder body is connected with the middle part of the frame body 311, the telescopic rod 352 is movably connected with the telescopic cylinder body 351 and is connected with the manipulator 33 through a moving block 34, the manipulator 33 can be driven to open and close through forward and backward movement of the telescopic rod 352, and a clamping function can be realized during closing.
In this embodiment, the end of the manipulator 33 is provided with the soft deformable material, and the soft deformable material is fixed at the end of the manipulator 33, so as to prevent the manipulator 33 from being in hard contact with the black-skinned wax gourd and damaging the black-skinned wax gourd.
Further, the four-degree-of-freedom shearing mechanism 38 is connected with one end of the shearing fork type telescopic mechanism 31, specifically, connected with the upper portion of the frame body 311, four degrees of freedom of the four-degree-of-freedom shearing mechanism 38 are respectively a Z-axis rotational degree of freedom, two X-axis rotational degrees of freedom and one shearing degree of freedom, and when the four-degree-of-freedom shearing mechanism is used for shearing the stems of the black-skinned wax gourds, the black-skinned wax gourds are separated from the vines.
As shown in fig. 1 and fig. 2, the black-skinned wax gourd picking machine of the present embodiment further includes a vision device 4, the vision device 4 includes a vision camera 41 and a camera fixing rod 42, the vision camera 41 is connected to the scissor-type telescopic mechanism 31 through the camera fixing rod 42, and is specifically connected to the frame body 311, and is used for identifying and positioning the positions of the black-skinned wax gourd and the black-skinned wax gourd stalk, so as to facilitate harvesting of the black-skinned wax gourd; the vision device 4 of the present embodiment is located below the four-degree-of-freedom cutting mechanism 38, there are two vision cameras 41 and two camera fixing rods 42, the two vision cameras 41 and the two camera fixing rods 42 correspond to each other one by one, one of the vision cameras 41 and the corresponding camera fixing rod 42 are located above one of the clamping mechanisms, and the other vision camera 41 and the corresponding camera fixing rod 42 are located above the other clamping mechanism.
As shown in fig. 1 and fig. 3, the black white gourd picking machine of the present embodiment further includes a loading moving device 5, the loading moving device 5 is disposed inside the frame 2, and includes a support tube 51, a hydraulic rotary motor 52, a support wheel 53, a transmission belt 54 and a white gourd base 55, one end of the support tube 51 is fixedly connected to the hydraulic rotary motor 52 and the support wheel 53, the other end of the support tube 51 is connected to the frame 2, the hydraulic rotary motor 52 is connected to the transmission belt 54, an axial center of the hydraulic rotary motor 52 is parallel to an axial center of the support wheel 53, the support wheels 53 are uniformly distributed, and the transmission belt 54 is attached to the white gourd base 55.
In this embodiment, ten support tubes 51 are provided, two hydraulic rotary motors 52 are provided, eight support wheels 53 are provided, eight wax gourd bases are provided, the two hydraulic rotary motors 52 are located at the front end and the rear end, the eight support wheels 53 are uniformly distributed between the two hydraulic rotary motors 52, the ten support tubes 51 are arranged above the track wheel 1 at equal intervals, the two hydraulic rotary motors 52 and the eight support wheels 53 are fixedly supported, and the support wheels 53 are in contact with the conveyor belt 54 and can bear the weight of eight black white gourd; the hydraulic rotating motor 52 drives the conveying belt 54 to move, so that the wax gourd base 55 attached to the conveying belt 54 is driven to move; the white gourd base 55 is made of soft deformable material, and the upper part of the white gourd base 55 is provided with a pit 551 for fixing and bearing the black-skinned white gourd.
Two harvesting device 3 have been installed to the black skin wax gourd harvester of this embodiment, two recognition device 4 and two loading mobile device 5, two harvesting device 3, two recognition device 4 and two loading mobile device 5 are the relation of one-to-one, every harvesting device 3 and the recognition device 4 that corresponds, the loading mobile device 5 that corresponds constitutes one set of device, two sets of devices can discern simultaneously, the centre gripping, cut and place black skin wax gourd, consequently, can carry out the results of two black skin wax gourd simultaneously, the harvesting efficiency is improved, the black skin wax gourd harvester of this embodiment can carry 16 black skin wax gourd at most.
Further, the crawler wheels 1 are two, the left side and the right side of the two crawler wheels 1 are symmetrically arranged, each crawler wheel 1 is provided with two hydraulic walking motors 11 and three bearing wheels 12, stators of the hydraulic walking motors 11 and the bearing wheels 12 are fixed at corresponding positions through square steel and are fixedly connected with the rack 2, the hydraulic walking motors 11 are connected with the crawler belts, and the hydraulic rotating motors 11 drive the crawler belts to move back and forth through rotating motion, so that the wax gourd harvester is driven to move back and forth.
Furthermore, the frame 2 is formed by welding a plurality of square steels 21 with different lengths, and the left side and the right side are symmetrically designed to play a role in fixing and connecting the crawler wheels 1, the harvesting device 3 and the supporting loading moving device 5.
The black-skin white gourd harvester of the embodiment has the following working process:
the black-skin white gourd harvester walks into the herringbone trellis cultivation field by remote control or self-walking, and carries out ridge-crossing harvesting operation; the hydraulic driving system drives the hydraulic walking motor 11 to drive the caterpillar band to control the black-skin wax gourd harvester to move forward and backward and start and stop; the hydraulic system drives the hydraulic cylinder 32 to control the scissor type telescopic mechanism 31 to contract, so that the white gourd harvester is prevented from touching a white gourd shed frame in the walking process;
when the recognition device 4 recognizes the black-skin white gourd, the black-skin white gourd harvester stops moving forward, and the hydraulic system drives the hydraulic cylinder 32 to control the scissor type telescopic mechanism 31 to extend out; when the vision camera 41 of the recognition device 4 recognizes that the manipulator 33 reaches a certain distance in front of the black-skinned wax gourd, the scissor type telescopic mechanism 31 stops extending; the hydraulic system drives the telescopic rod 352 of the telescopic oil cylinder 35 to retreat, and then the manipulator 33 is controlled to fold and clamp the black-skinned wax gourd; the recognition device 4 positions the black-peel wax gourd stem, controls the four-degree-of-freedom shearing mechanism 38 to move to a certain position in front of the stem, and shears the stem;
when the melon stalk is cut off, the hydraulic system drives the hydraulic cylinder 32, the scissor type telescopic mechanism 31 is controlled to continuously extend, when the manipulator 33 moves the clamped black-skinned wax gourd to be right above the wax gourd base 55, the telescopic rod 352 is pushed forward, the manipulator 33 is loosened, the black-skinned wax gourd is placed on the wax gourd base 55, the bottom of the black-skinned wax gourd is attached to the pit 551 of the wax gourd base 55, the black-skinned wax gourd is fixed on the wax gourd base 55, the hydraulic rotary motor 52 rotates to drive the conveying belt 54 to move the position of one wax gourd base 55, and the next black-skinned wax gourd is waited to be loaded until eight black-skinned wax gourds are fully loaded; after harvesting device 3 placed black skin wax gourd in wax gourd base 55, cut fork telescopic machanism 31 and contract, waited for recognition device 4 to discern black skin wax gourd once more.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or given otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. To those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations, and the terms "upper", "lower", "left", "right", and the like are used for illustrative purposes only and do not mean a unique embodiment.
In conclusion, the black-peel wax gourd picking machine disclosed by the invention adopts ridge-crossing operation and hydraulic drive tracks to walk, can be better suitable for the complex environment of a Chinese character 'ren' shaped trellis cultivation wax gourd field, realizes the harvesting of black-peel wax gourd in the complex environment, adopts a hydraulic drive mode which is easy to realize automatic control, reduces the labor intensity, saves the operation cost, adopts hydraulic drive to realize the harvesting device, can output larger thrust, can clamp 30 kilograms of black-peel wax gourd, and can realize the harvesting of heavier black-peel wax gourd.
The above description is only for the preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the scope of the present invention.
Claims (10)
1. The utility model provides a black skin wax gourd picking machine, its characterized in that includes athey wheel, frame and results device, the frame sets up on the athey wheel, results device sets up in the inside of frame, and results device shears the mechanism including cutting fork telescopic machanism, pneumatic cylinder, fixture and four degrees of freedom, the pneumatic cylinder with cut the fork telescopic machanism and be connected, the one end of cutting the fork telescopic machanism is sheared the mechanism with fixture, four degrees of freedom respectively and is connected, cuts the other end and the frame of fork telescopic machanism and is connected.
2. The black-skinned wax gourd picking machine according to claim 1, wherein the clamping mechanism comprises a manipulator, a moving block and a telescopic oil cylinder, and the telescopic oil cylinder is connected with one end of the scissor type telescopic mechanism and is connected with the manipulator through the moving block.
3. The black-skinned wax gourd picking machine as claimed in claim 2, wherein the telescopic oil cylinder comprises a telescopic cylinder body and a telescopic rod, the telescopic cylinder body is connected with one end of a scissor type telescopic mechanism, and the telescopic rod is movably connected with the telescopic cylinder body and is connected with a manipulator through a moving block.
4. The black-skinned wax gourd picking machine as claimed in claim 2, wherein a soft deformable material is provided at the end of the manipulator.
5. The black-skinned wax gourd picking machine according to claim 1, wherein the scissor type telescopic mechanism comprises a frame body, an elongated steel plate, a square fixing block, a connecting steel plate and a steel pipe;
the long-strip-shaped steel plates are symmetrically arranged on two sides, 2N long-strip-shaped steel plates are arranged on each side, the 2N long-strip-shaped steel plates are connected in a parallelogram mode, and the long-strip-shaped steel plates on the two sides are fixed together through steel pipes and square fixing blocks to form a scissor type telescopic part; wherein N is a natural number greater than or equal to 2;
the frame body is connected with the long-strip-shaped steel plate at one end of the scissor type telescopic part through a hinge and a rolling support, so that the frame body serves as one end of the scissor type telescopic mechanism, the other end of the scissor type telescopic part serves as the other end of the scissor type telescopic mechanism, and the long-strip-shaped steel plate at the other end of the scissor type telescopic part is connected with the rack through the hinge and the rolling support;
the clamping mechanism is connected with the middle part of the frame body, and the four-degree-of-freedom shearing mechanism is connected with the upper part of the frame body.
6. The black-skinned wax gourd picking machine according to claim 1, wherein the four degrees of freedom of the four-degree of freedom shearing mechanism are one degree of freedom of rotation in Z-axis, two degrees of freedom of rotation in X-axis, and one degree of freedom of shearing, respectively.
7. The black-skinned wax gourd picking machine according to any one of claims 1 to 6, further comprising a vision device, wherein the vision device comprises a vision camera and a camera fixing rod, and the vision camera is connected with the scissor type telescopic mechanism through the camera fixing rod and used for identifying and positioning the positions of the black-skinned wax gourd and the black-skinned wax gourd stalk.
8. The black-skinned wax gourd picking machine according to any one of claims 1 to 6, further comprising a loading moving device, wherein the loading moving device is arranged inside the rack and comprises a support tube, a hydraulic rotary motor, a thrust wheel, a transmission belt and a wax gourd base, one end of the support tube is fixedly connected with the hydraulic rotary motor and the thrust wheel, the other end of the support tube is connected with the rack, the hydraulic rotary motor is connected with the transmission belt, the axis of the hydraulic rotary motor is parallel to the axis of the thrust wheel, the thrust wheel is uniformly distributed, and the transmission belt is attached to the wax gourd base and is connected with the transmission belt.
9. The black white gourd picking machine according to any one of claims 1 to 6, wherein the number of the crawler wheels is two, the two crawler wheels are symmetrically arranged on two sides, each crawler wheel is provided with two hydraulic walking motors and three bearing wheels, the stators and the bearing wheels of the hydraulic walking motors are fixed at corresponding positions through square steel and are fixedly connected with the frame, and the hydraulic walking motors are connected with the crawler belts.
10. A picking method of white gourd with black peel, which is realized based on the picking machine of any one of claims 1 to 9, and is characterized in that the method comprises the following steps:
controlling the black-skinned wax gourd picking machine to walk, and when the recognition device recognizes the black-skinned wax gourd, stopping the black-skinned wax gourd picking machine from walking, and controlling the scissor type telescopic mechanism to extend out;
when the recognition device recognizes that the manipulator of the clamping mechanism reaches a certain distance in front of the black-skinned wax gourd, the scissor type telescopic mechanism stops extending;
controlling a manipulator of the clamping mechanism to fold and clamp the black-skinned wax gourd;
the recognition device positions the positions of the stems of the black-skinned wax gourds, so that the four-degree-of-freedom shearing mechanism moves to a certain position in front of the stems of the black-skinned wax gourds to shear the stems of the black-skinned wax gourds;
when the stems of the black-skinned wax gourds are cut off, the scissor type telescopic mechanism is controlled to extend continuously, so that the manipulator of the clamping mechanism moves the clamped black-skinned wax gourds to be right above a wax gourds base of the loading and moving device;
the manipulator of control fixture loosens, and black skin wax gourd places on the wax gourd base to make the wax gourd fixed on the wax gourd base, load the position that the mobile device removed a wax gourd base, wait for the loading of next black skin wax gourd.
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Application publication date: 20220705 |