CN204047213U - A kind of cotton picking manipulator - Google Patents
A kind of cotton picking manipulator Download PDFInfo
- Publication number
- CN204047213U CN204047213U CN201420525712.0U CN201420525712U CN204047213U CN 204047213 U CN204047213 U CN 204047213U CN 201420525712 U CN201420525712 U CN 201420525712U CN 204047213 U CN204047213 U CN 204047213U
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- China
- Prior art keywords
- cotton picking
- stepper motor
- cotton
- pawl
- bucket
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Abstract
A kind of cotton picking manipulator, comprises telescoping mechanism, cotton picking bucket changement, cotton picking pawl mechanism, and telescoping mechanism drives the action of one-level telescopic arm telescopic arm by the 4th stepper motor expansion link, interior expansion link in worm drive drive; Cotton picking bucket changement comprises jig arm, the 3rd stepper motor, the second stepper motor and cotton picking bucket, and the affixed jig arm of output shaft of the 3rd stepper motor, jig arm is installed the second stepper motor, the affixed cotton picking bucket of output shaft of the second stepper motor; Cotton picking pawl mechanism comprises the first stepper motor, slider-crank mechanism, cotton picking pawl connecting rod and cotton picking pawl, first stepper motor driving crank slide block mechanism, slider-crank mechanism connect one end of each cotton picking pawl connecting rod, the other end hinged each cotton picking pawl respectively of each cotton picking pawl connecting rod, middle part and the cotton picking bucket front end of each cotton picking pawl are hinged.The utility model can substitute heavy artificial cotton picking operation, and improve cotton picking efficiency and pluck quality, convenient operation operation and maintenance manages, and can adapt to various different operating environment.
Description
Technical field
The utility model relates to a kind of cotton picker, especially for the cotton picking manipulator substituting artificial cotton picking operation, belongs to agricultural machinery technological field.
Background technology
Cotton is then the most important thing in economic crops.China is a large agricultural country, and three large cotton growing areas are distributed in the Changjiang river, the Yellow River and Huai He River and Xinjiang.In cotton harvesting season, cotton picking is a hang-up.At present, the domestic cotton picking overwhelming majority remains and relies on artificial cotton picking, and need to drop into a large amount of manpowers, hand labor intensity is large, and operating rate is low; Though some cotton growing area uses some cotton pickings machinery, but these cotton picking machineries have automaticity and the low problem of production efficiency more; Also have a kind of large-scale cotton picker, carry out boll hull separating treatment again after being cut down by cotton boll during operation, although this large-scale cotton picking equipment production efficiency is high, be applicable to large area cotton field to use, but high for the coherence request of cotton maturation, and equipment price is higher, brings higher cost burden to cotton grower.The problem of cotton picking difficulty has directly had influence on cotton and has produced on a large scale, plants.Therefore, the cotton picking machinery developing high-efficiency and low-cost is cotton planting district problem demanding prompt solution.
Utility model content
The purpose of this utility model is the drawback for prior art, provides a kind of for substituting artificial cotton picking operation, cotton picking manipulator that production efficiency is high.
Problem described in the utility model realizes with following technical proposals:
A kind of cotton picking manipulator, comprises telescoping mechanism, cotton picking bucket changement and cotton picking pawl mechanism, and described telescoping mechanism is by the expansion link action in worm drive drive of the 4th stepper motor, and interior expansion link drives the action of one-level telescopic arm relative secondary telescopic arm; Described cotton picking bucket changement comprises jig arm, the 3rd stepper motor, the second stepper motor and cotton picking bucket, 3rd stepper motor is arranged on one-level telescopic arm front end, the affixed jig arm of output shaft of the 3rd stepper motor, jig arm is installed the second stepper motor, the rear portion of the affixed cotton picking bucket of output shaft of the second stepper motor, the output shaft of the 3rd stepper motor is mutually vertical with the output shaft of the second stepper motor; Described cotton picking pawl mechanism comprises the first stepper motor, slider-crank mechanism, cotton picking pawl connecting rod and cotton picking pawl, first stepper motor is arranged on cotton picking bucket rear portion, first stepper motor driving crank slide block mechanism action, one end of the hinged each cotton picking pawl connecting rod of sliding frame of slider-crank mechanism, the other end hinged each cotton picking pawl respectively of each cotton picking pawl connecting rod, middle part and the cotton picking bucket front end of each cotton picking pawl are hinged.
Above-mentioned cotton picking manipulator, the gabarit of described cotton picking bucket is cube shaped, described cotton picking pawl arranges four, each cotton picking pawl is articulated with four limits in cotton picking bucket forward position respectively, each cotton picking pawl end is provided with bending cotton-picker head, and it is outside that described sliding frame is enclosed within cotton picking bucket, and sliding frame connects slide bar, fixed slip bar seat on cotton picking bucket outer wall, slide bar passes slider block, is slidably matched with slider block.
Above-mentioned cotton picking manipulator, it is outside that described 4th stepper motor is arranged on secondary telescopic arm, external extension bar and the second telescopic arm are fixed, external extension bar is sleeved on outside interior expansion link, the output shaft of the 4th stepper motor through the affixed leading screw of shaft coupling, leading screw and screw threaded engagement, leading screw, screw are positioned at external extension bar, one end of the affixed interior expansion link of screw, the other end of interior expansion link connects one-level telescopic arm.
Above-mentioned cotton picking manipulator, described jig arm forms " П " shape by two sides and a base, is provided with base installation sleeve in the middle part of the base of jig arm, the 3rd stepper motor output shaft affixed base installation sleeve; Both sides, described cotton picking bucket rear portion are respectively equipped with installation sleeve and back shaft, second stepper motor is arranged on a side of jig arm, and another side of jig arm is provided with supported hole, the affixed installation sleeve of the second stepper motor output shaft, back shaft is positioned at supported hole, and back shaft and supported hole are rotatably assorted.
Above-mentioned cotton picking manipulator, described cotton picking bucket side is provided with the through hole for external induced-draught fan.
The utility model devises a kind of cotton picking manipulator for solution efficient mechanical cotton picking problem, described cotton picking machinery hand comprises telescoping mechanism, cotton picking bucket changement and cotton picking pawl mechanism, by telescoping mechanism, cotton picking pawl is moved near cotton, by changement, cotton picking pawl is aimed at cotton, then coordinated cotton picking bucket induced-draught fan double action to be plucked by cotton to adopt by cotton picking pawl clean.Above-mentioned course of action controls the action of each stepper motor by the controlling organization being provided with PCL, automation realize cotton picking.Running gear, the translating device of the utility model and cotton picker support the use, and can substitute heavy artificial cotton picking operation, improve cotton picking efficiency and pluck quality, and can adapt to various different operating environment.In addition, the utility model principle mechanical components simple structure, convenient operation operation and maintenance management, cost of manufacture are lower, have good promotion prospect.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Fig. 1 is stereogram of the present utility model;
Fig. 2 is structural representation of the present utility model;
Fig. 3 is the partial enlarged view at Fig. 2 A place;
Fig. 4 is the vertical view of Fig. 2;
Fig. 5 is the partial enlarged view at Fig. 4 B place;
Fig. 6 is that cotton picking pawl opens the schematic diagram stretched out.
In figure, each list of reference numerals is: 1, cotton picking bucket, 2, cotton picking pawl connecting rod, 3, slide bar, 4, slider block, 5, sliding frame, 6, slider-crank mechanism, 7, the first stepper motor, 8, back shaft, 9, supported hole, 10, jig arm, 11, base installation sleeve, the 12, the 3rd stepper motor, 13, one-level telescopic arm, 14, secondary telescopic arm, the 15, second stepper motor, 16, installation sleeve, 17, interior expansion link, 18, external extension bar, 19, leading screw, 20, screw, 21, shaft coupling, 22, the 4th stepper motor, 23, cotton picking pawl, 24, cotton-picker head.
Embodiment
Referring to Fig. 1, the utility model comprises telescoping mechanism, cotton picking bucket changement and cotton picking pawl mechanism, telescoping mechanism is used for cotton picking pawl to move near the cotton that needs to pluck, cotton picking bucket changement is used for cotton picking pawl to aim at cotton, cotton picking pawl mechanism is then under induced-draught fan coordinates, by two Action of Gravity Field cotton plucked adopt clean.
Referring to Fig. 1, Fig. 4, Fig. 5, telescoping mechanism comprises one-level telescopic arm 13, secondary telescopic arm 14, No. four stepper motors 22, external extension bar 18 and interior expansion links 17, and external extension bar is sleeved on outside interior expansion link, and secondary telescopic arm is sleeved on outside one-level telescopic arm.No. four stepper motors 22 are fixed on the end outside secondary telescopic arm 14, No. four stepper motors be equipped with stepper motor shell with protect stepper motor evil slightly environment can normally work.External extension bar is fixed on secondary telescopic arm, the power of No. four stepper motors passes to leading screw 19 by shaft coupling 21, leading screw and screw 20 threaded engagement, and leading screw and screw are all positioned at external extension bar, one end of the affixed interior expansion link of screw, the interior expansion link other end connects one-level telescopic arm.When the 4th stepper motor work, in leading screw, screw drive, expansion link moves, and interior expansion link drives the relative secondary telescopic arm of one-level telescopic arm to do stretching motion.
Referring to Fig. 1-3, cotton picking bucket changement comprises jig arm 10, the 3rd stepper motor 12, second stepper motor 15 and cotton picking bucket 1, and cotton picking bucket gabarit is cube shaped, and cotton picking bucket front portion is cavity.Jig arm 10 forms " П " shape by two sides and a base, is provided with base installation sleeve 11 in the middle part of the base of jig arm.3rd stepper motor is arranged on the front end of one-level telescopic arm 13, the 3rd stepper motor output shaft affixed base installation sleeve 11, when the 3rd stepper motor rotates, drives jig arm to rotate.The both sides, rear portion of cotton picking bucket 1 are respectively equipped with installation sleeve 16 and back shaft 8, described second stepper motor is arranged on a side of jig arm, another side of jig arm is provided with supported hole 9, the affixed installation sleeve of second stepper motor output shaft, back shaft is positioned at supported hole, and back shaft and supported hole are rotatably assorted.When the second stepping electric machine rotation, cotton picking bucket is driven to rotate.The output shaft of the 3rd stepper motor is mutually vertical with the output shaft of the second stepper motor, and the 3rd stepper motor and the second stepper motor interoperation, can realize cotton picking bucket and rotate in orthogonal both direction.
Referring to Fig. 1, Fig. 2, Fig. 4 and Fig. 6, cotton picking pawl mechanism comprises the first stepper motor 7, slider-crank mechanism 6, cotton picking pawl connecting rod 2 and cotton picking pawl 23, the corresponding cotton picking pawl of each cotton pawl connecting rod.First stepper motor is arranged on cotton picking bucket rear portion, first stepper motor driving crank slide block mechanism action, one end of the hinged each cotton picking pawl connecting rod of sliding frame 5 of slide block effect is played in slider-crank mechanism, the other end hinged each cotton picking pawl 23 respectively of each cotton picking pawl connecting rod, middle part and the cotton picking bucket front end of each cotton picking pawl are hinged, and the front end of each cotton picking pawl is provided with bending cotton-picker head 24.Sliding frame is enclosed within outside cotton picking bucket, and for ensureing sliding frame stable movement, sliding frame connects slide bar 3, fixed slip bar seat 4 on cotton picking bucket outer wall, and slide bar passes slider block, is slidably matched with slider block.In the present embodiment, cotton picking pawl connecting rod and cotton picking pawl respectively arrange four, and each cotton picking pawl lays respectively at the middle part on four limits, cotton picking bucket forward position.During the first stepping electric machine rotation, drive slider-crank mechanism action, slider-crank mechanism drives cotton picking pawl stretch out or retract through cotton picking pawl connecting rod, is got off by cotton picking.
Cotton picking bucket side is provided with the through hole for external induced-draught fan.
Utility model works process is as follows: the 4th stepper motor by shaft coupling by transmission of power to leading screw, in being driven by screw, expansion link moves again, pass motion to one-level telescopic arm by interior expansion link, thus realize the flexible of one-level telescopic arm, find the distance with cotton accurately; Cotton picking pawl is aimed at cotton by the interoperation of the 3rd stepper motor and the second stepper motor after finding accurately by distance again; Then by the first stepper motor driving crank slide block mechanism action, the action of slider-crank mechanism passes to cotton picking pawl through cotton picking connecting rod, and the contraction realizing cotton picking pawl has clamped adopts plucking of cotton.Meanwhile induced-draught fan is to the air draught of cotton picking bucket, plucks cotton picking flower under double action, and raising cotton is plucked to adopt efficiency and pluck and adopts quality, and is sucked in cotton picking bag by cotton by induced-draught fan.The above-mentioned course of work, the duty of each motor has been coordinated by the controlling organization being provided with PLC.
Claims (5)
1. a cotton picking manipulator, it is characterized in that: comprise telescoping mechanism, cotton picking bucket changement and cotton picking pawl mechanism, described telescoping mechanism is by expansion link (17) action in worm drive drive of the 4th stepper motor (22), and interior expansion link drives one-level telescopic arm (13) secondary telescopic arm (14) action relatively; Described cotton picking bucket changement comprises jig arm (10), the 3rd stepper motor (12), the second stepper motor (15) and cotton picking bucket (1), 3rd stepper motor is arranged on one-level telescopic arm front end, the affixed jig arm of output shaft of the 3rd stepper motor, jig arm is installed the second stepper motor, the rear portion of the affixed cotton picking bucket of output shaft of the second stepper motor, the output shaft of the 3rd stepper motor is mutually vertical with the output shaft of the second stepper motor; Described cotton picking pawl mechanism comprises the first stepper motor (7), slider-crank mechanism (6), cotton picking pawl connecting rod (2) and cotton picking pawl (23), first stepper motor is arranged on cotton picking bucket rear portion, first stepper motor driving crank slide block mechanism action, one end of the hinged each cotton picking pawl connecting rod of sliding frame (5) of slider-crank mechanism, the other end hinged each cotton picking pawl respectively of each cotton picking pawl connecting rod, middle part and the cotton picking bucket front end of each cotton picking pawl are hinged.
2. cotton picking manipulator according to claim 1, it is characterized in that, the gabarit of described cotton picking bucket (1) is cube shaped, described cotton picking pawl (23) arranges four, and each cotton picking pawl is articulated with four limits in cotton picking bucket forward position respectively, and each cotton picking pawl (23) end is provided with bending cotton-picker head (24), it is outside that described sliding frame is enclosed within cotton picking bucket, sliding frame connects slide bar (3), fixed slip bar seat (4) on cotton picking bucket outer wall, and slide bar passes slider block, is slidably matched with slider block.
3. cotton picking manipulator according to claim 2, it is characterized in that, it is outside that described 4th stepper motor (22) is arranged on secondary telescopic arm (14), external extension bar and the second telescopic arm are fixed, external extension bar is sleeved on outside interior expansion link, the output shaft of the 4th stepper motor is through shaft coupling (21) affixed leading screw (19), leading screw and screw (20) threaded engagement, leading screw, screw are positioned at external extension bar, one end of the affixed interior expansion link (17) of screw, the other end of interior expansion link connects one-level telescopic arm.
4. cotton picking manipulator according to claim 3, is characterized in that, described jig arm (10) forms " П " shape by two sides and a base, is provided with base installation sleeve (11) in the middle part of the base of jig arm, the 3rd stepper motor output shaft affixed base installation sleeve; Both sides, described cotton picking bucket rear portion are respectively equipped with installation sleeve (16) and back shaft (8), second stepper motor is arranged on a side of jig arm, another side of jig arm is provided with supported hole (9), the affixed installation sleeve of second stepper motor output shaft, back shaft is positioned at supported hole, and back shaft and supported hole are rotatably assorted.
5. cotton picking manipulator according to claim 4, is characterized in that, described cotton picking bucket side is provided with the through hole for external induced-draught fan.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420525712.0U CN204047213U (en) | 2014-09-15 | 2014-09-15 | A kind of cotton picking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420525712.0U CN204047213U (en) | 2014-09-15 | 2014-09-15 | A kind of cotton picking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204047213U true CN204047213U (en) | 2014-12-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420525712.0U Expired - Fee Related CN204047213U (en) | 2014-09-15 | 2014-09-15 | A kind of cotton picking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204047213U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109220209A (en) * | 2018-11-08 | 2019-01-18 | 天津科技大学 | A kind of automatic picking machine of strawberry |
| CN111331537A (en) * | 2020-04-10 | 2020-06-26 | 石河子大学 | Special clamping device for single cotton test |
| CN112840855A (en) * | 2021-01-07 | 2021-05-28 | 湖北省农业科学院经济作物研究所 | Artificial intelligence cotton picker |
-
2014
- 2014-09-15 CN CN201420525712.0U patent/CN204047213U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109220209A (en) * | 2018-11-08 | 2019-01-18 | 天津科技大学 | A kind of automatic picking machine of strawberry |
| CN109220209B (en) * | 2018-11-08 | 2024-01-12 | 天津科技大学 | Automatic strawberry picking machine |
| CN111331537A (en) * | 2020-04-10 | 2020-06-26 | 石河子大学 | Special clamping device for single cotton test |
| CN112840855A (en) * | 2021-01-07 | 2021-05-28 | 湖北省农业科学院经济作物研究所 | Artificial intelligence cotton picker |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141231 Termination date: 20160915 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |