CN107241969B - A kind of automation wild rice stem picking method - Google Patents

Abstract

The invention discloses an automatic method for picking wild rice stems, which comprises the following steps: (1) dividing the wild rice stems planting base into a plurality of 1m*1m squares, and then picking the wild wild rice stems in the squares according to the principle from the outside to the inside; 2) Picking personnel control the picking vehicle to pick and process Zizania; (3) After picking, Zizania is collected in the collection box, and then pushed out through the pushing device; (4) While picking Zizania, the porter controls the truck to clean the Zizania on the ground. Grab and carry, and transport the wild rice stem to the truck, so as to facilitate the subsequent processing of the wild wild rice stem. The invention has the advantages of simple structure, strong practicability, and automatic operation. The picking vehicle realizes automatic picking of wild rice stems, and is combined with a transport vehicle to realize automatic handling of wild rice stems, speeds up the picking and collection rate of wild rice stems, and is more convenient to use.

Description

A kind of automatic asparagus picking method

technical field

The invention relates to an automatic method for picking wild rice stems.

Background technique

Zizania, also known as high melon, wild bamboo shoots, wild wild hands, wild bamboo shoots, high bamboo shoots. It is a perennial herbaceous plant of the genus Poaceae. It is divided into double-crop and single-crop (or divided into one-cooked and two-cooked), and double-crop (two-cook) has a higher yield and good quality. The ancients called Zizania "wild". Before the Tang Dynasty, Zizania was cultivated as a food crop, and its seeds were called wild rice or Diaohu, which was one of the "six valleys" (稌, millet, millet, sorghum, wheat, and wild rice). Later, it was found that some wild rice plants did not head due to the infection of smut, and the plants showed no signs of disease. The stems continued to expand and gradually formed spindle-shaped fleshy stems. This is the wild rice stem that is now eaten. In this way, people use the smut fungus to prevent Zizania zizania from blooming and fruiting, and reproduce this sickly deformed plant as a vegetable. Can be used as medicine. In the world, Zizania is cultivated as a vegetable, only in China and Vietnam. Zizania rice stem is known as one of the three good things in Baizhuangzi, Xintai, Shandong Province (three good things are rice stem stem, spring buds, and wild duck eggs), and it has been passed down since ancient times. It mostly grows in the area of the Yangtze River and lakes, and is suitable for growing in fresh water. The current water bamboo picking generally adopts manual picking, which not only has a low picking rate, but also has a strong manual labor, which is troublesome and laborious.

Contents of the invention

The purpose of the present invention is to provide a technical scheme of an automatic water bamboo picking method for the deficiencies in the prior art. The structure is simple and the operation is automatic. The automatic picking of water bamboo is realized by a picking vehicle, and then the automatic transportation of water bamboo is realized by combining with a transport vehicle. , to speed up the picking and collection rate of Zizania stems, and it is more convenient to use.

A kind of automatic Zizania japonica picking method is characterized in that, comprises the following steps:

(1) First, manually control the picking vehicle, move the picking vehicle to the designated Zizania planting base, and then start the visual recognition system to transmit the terrain and actual size of the Zizania planting base to the control computer, and the pickers read it through the display screen in the operating room According to the actual information, the Zizania harvesting plan is determined, and the Zizania planting base is divided into multiple 1m*1m squares, and then the single squares are picked one by one. According to the principle from the outside to the inside, the Zizania planting base will The wild rice stems on the side are picked well, and then the wild rice stems at the center of the wild rice stem planting base are picked, which not only makes the harvesting of the wild wild rice stems more scientific and reasonable, but also avoids picking the wild wild rice stems at the center of the wild rice stem planting base first, and the picking trucks will not be caught during the movement. The wild rice stems on the side of the rice stem planting base are crushed, resulting in a waste of resources, and effectively control the picking rate and amount of wild rice stems, which is more convenient for actual operation;

(2) The picking personnel control the work of the picking claws through the control buttons in the control room. First, start the picking cylinder, drive the movement of the picking frame through the picking cylinder, move the first picking claw and the second picking claw to the top of the Zizania planting base, and pick The cylinder stops moving, and then the first rotary cylinder and the second rotary cylinder are started simultaneously, and the first rotary cylinder and the second rotary cylinder drive the rotation of the first picking claw and the second picking claw respectively, so that the first picking claw and the second picking claw are rotated. The position of the picking claws is adjusted so that the first picking claw is located above one picking grid, and the second picking claw is positioned above another picking grid. The first driver and the second driver are simultaneously activated to drive the first picking claw and the second picking claw The two picking claws work to pick the wild rice stems in the two picking grids at the same time. After the first picking claws and the second picking claws pick the wild rice stems, they start the first rotary cylinder and the second rotary cylinder at the same time, and the first picking Rotate the claw and the second picking claw to the top of the collection box, and then loosen the first picking claw and the second picking claw, so that the bamboo shoots will fall into the collection box, which is convenient for subsequent processing and effectively speeds up the picking speed of bamboo shoots;

(3) After the water bamboo in step (2) enters the collection box, when the gravity sensor at the bottom of the collection box senses that the water bamboo in the collection box has reached a certain weight, the gate on the discharge port of the collection box is opened, and the pushing device is turned on at the same time , the pushing cylinder drives the movement of the arc-shaped pushing plate, pushes the wild rice stems in the collection box from the discharge port, and then, under the guidance of the inclined guide plate, quickly discharges the collection box to accumulate on the ground, so as to facilitate the subsequent picking and collection of wild rice stems deal with;

(4) While the pickers drive the picking truck to pick and process the wild rice stems, the porters control the trucks to carry the wild rice stems on the ground, and move them to the trucks. First, the porters control the trucks to move them to the wild rice stems pile At the same time, the hydraulic cylinder is opened to drive the frame to move, and the position of the grab device is adjusted so that the grab device is located above the Zizania heap. Rotate the operation to adjust the angle of the grab device, so that the grab component is facing the top of the bamboo pile, and the grabbing rate of the grab component is increased. The adjustment of the telescopic rod is extended, so that the grab assembly moves to the position where the wild rice stem is to be grabbed, the third driver is turned on, and the wild rice stem is grabbed by the left grab bucket and the right grab bucket. , the telescopic rod is retracted, and the operator moves the truck to transport the wild rice stem to the truck. The overall operation is automated, and it is more convenient to use.

Further, in step (4), while the grab device is grabbing the wild rice stem, the camera component monitors the working status of the grab device through the camera at all times, and transmits the monitoring picture to the control room, so that the operator can find out in time problems, improve operational safety performance, and reduce the rate of accidents.

Further, the truck in step 4) includes a mobile forklift, a frame and a handling device, the frame is connected to the mobile forklift through a hydraulic cylinder, the handling device includes an adjustment device and a grab device, and the adjustment device includes a telescopic cylinder, an adjustment cylinder, a support Frame and connecting plate, the telescopic cylinder is fixedly connected with the frame, the telescopic cylinder is connected with the supporting frame through the telescopic rod, the adjusting cylinder is fixedly connected with the supporting frame, the adjusting cylinder is connected with the connecting plate through the adjusting rod, and one end of the supporting frame is connected with the frame Fixedly connected, the grab device includes a third driver and a grab assembly, the grab assembly includes a left grab and a right grab, and the left grab and right grab are symmetrically arranged on the left and right sides of the third driver.

Further, an elastic buffer frame is arranged between the frame and the mobile forklift, the elastic buffer frame includes a left fixed plate, a buffer body and a right fixed plate, the buffer body is located between the left fixed plate and the right fixed plate, and the left fixed plate is fixed to the mobile forklift Connection, the right fixed plate is fixedly connected with the frame, the elastic buffer frame can not only improve the connection strength between the frame and the mobile forklift, but also the elastic buffer frame can make the movement of the frame more stable and reliable.

Furthermore, the surface of the left grab and the right grab are uniformly provided with water leakage holes. The design of the water leakage holes can facilitate the cleaning of the left and right grabs by the cleaning device in the later stage, and prevent the sewage from remaining in the left and right grabs after cleaning. Inside the bucket, the design is more reasonable.

Further, the left grab and the right grab are provided with connecting rods, and the left grab and the right grab are movably connected with the third driver through the connecting rod, and the design of the connecting rod can facilitate the operation of the left grab and the right grab The connection to the third drive is fixed.

Further, the left grab and the right grab are hinged to each other, and the design of the hinge meets the design requirements.

Furthermore, a connecting column is arranged above the third driver, and the third driver is connected to the connecting plate through the connecting column. The design of the connecting column can facilitate the installation and fixing of the third driver and the connecting plate, and the installation and disassembly are convenient.

Further, a camera assembly is arranged above the left grab and the right grab, the camera assembly includes a camera and a connecting frame, the connecting frame includes a first fixed rod and a second fixed rod, and one end of the first fixed rod is connected to the third driver , the other end of the first fixed rod is movably connected with the second fixed rod, and the camera is connected with the second fixed rod. The design of the camera component can monitor the working conditions of the grab device at all times, so as to find and solve problems in time. The operation safety performance is effectively improved, and the structural design is more reasonable.

The present invention has the following beneficial effects due to the adoption of the above technical solution:

1. The present invention automatically picks Zizania stems by a picking car, and simultaneously picks them with stirring by the first picking claw and the second picking claw, so as to speed up the picking rate of Zizania stems, and through rational planning of the picking scheme of Zizania stems, the Zizania stem planting bases are evenly harvested. Divide into multiple 1m*1m squares for picking, not only can control the picking rate and picking amount of stirring, but also make the picking of wild rice more scientific;

2. In the present invention, the harvested Zizania is transported and moved by the truck, and the Zizania is transported to the truck, so as to facilitate the subsequent centralized processing of the Zizania. The telescopic cylinder adjusts the upper and lower positions of the grab device through the extension and retraction of the telescopic rod. , when the grab device clamps the wild rice stem, the telescopic rod is extended, so that the grab device moves to the pile of wild rice stems to be moved, when the left and right grabs grab the wild rice stem, the telescopic rod retracts, and then moves The forklift is moved to transport the bamboo to the truck, and the adjustment cylinder can rotate the grab device through the extension and retraction of the adjustment rod, so as to fine-tune the positions of the left grab and the right grab, so that the grab device is facing It is more convenient for actual operation and use to carry the above water bamboo.

The invention has the advantages of simple structure, strong practicability and automatic operation. The picking vehicle realizes the automatic picking of wild rice stems, and then combines with the transport truck to realize automatic handling of wild wild rice stems, speeds up the picking and collection rate of wild wild rice stems, and is more convenient to use.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing:

Fig. 1 is the structural representation of the sludge dewatering system in a kind of automatic water bamboo picking method of the present invention;

Fig. 2 is the structural representation of adjusting device among the present invention;

Fig. 3 is a partial enlarged view of I in Fig. 1 .

In the figure: 1-truck; 2-mobile forklift; 3-frame; 4-hydraulic cylinder; 5-adjustment device; 6-grab device; 7-telescopic cylinder; 8-adjustment cylinder; -connecting plate; 11-telescopic rod; 12-adjusting rod; 13-third driver; 14-left grab; 15-right grab; 16-elastic buffer frame; 17-left fixed plate; 18-buffer main body; 19 -right fixing plate; 20-leakage hole; 21-connecting rod; 22-connecting column; 23-camera assembly; 24-first fixing rod; 25-second fixing rod; 26-camera.

Detailed ways

As shown in Fig. 1 to Fig. 3, it is a kind of automatic water bamboo picking method of the present invention, comprises the following steps:

(1) First, manually control the picking vehicle, move the picking vehicle to the designated Zizania planting base, and then start the visual recognition system to transmit the terrain and actual size of the Zizania planting base to the control computer, and the pickers read it through the display screen in the operating room According to the actual information, the Zizania harvesting plan is determined, and the Zizania planting base is divided into multiple 1m*1m squares, and then the single squares are picked one by one. According to the principle from the outside to the inside, the Zizania planting base will The wild rice stems on the side are picked well, and then the wild rice stems at the center of the wild rice stem planting base are picked, which not only makes the harvesting of the wild wild rice stems more scientific and reasonable, but also avoids picking the wild wild rice stems at the center of the wild rice stem planting base first, and the picking trucks will not be caught during the movement. The wild rice stems on the side of the rice stem planting base are crushed, resulting in a waste of resources, and effectively control the picking rate and amount of wild rice stems, which is more convenient for actual operation;

(2) The picking personnel control the work of the picking claws through the control buttons in the control room. First, start the picking cylinder, drive the movement of the picking frame through the picking cylinder, move the first picking claw and the second picking claw to the top of the Zizania planting base, and pick The cylinder stops moving, and then the first rotary cylinder and the second rotary cylinder are started simultaneously, and the first rotary cylinder and the second rotary cylinder drive the rotation of the first picking claw and the second picking claw respectively, so that the first picking claw and the second picking claw are rotated. The position of the picking claws is adjusted so that the first picking claw is located above one picking grid, and the second picking claw is positioned above another picking grid. The first driver and the second driver are simultaneously activated to drive the first picking claw and the second picking claw The two picking claws work to pick the wild rice stems in the two picking grids at the same time. After the first picking claws and the second picking claws pick the wild rice stems, they start the first rotary cylinder and the second rotary cylinder at the same time, and the first picking Rotate the claw and the second picking claw to the top of the collection box, and then loosen the first picking claw and the second picking claw, so that the bamboo shoots will fall into the collection box, which is convenient for subsequent processing and effectively speeds up the picking speed of bamboo shoots;

(3) After the water bamboo in step (2) enters the collection box, when the gravity sensor at the bottom of the collection box senses that the water bamboo in the collection box has reached a certain weight, the gate on the discharge port of the collection box is opened, and the pushing device is turned on at the same time , the pushing cylinder drives the movement of the arc-shaped pushing plate, pushes the wild rice stems in the collection box from the discharge port, and then, under the guidance of the inclined guide plate, quickly discharges the collection box to accumulate on the ground, so as to facilitate the subsequent picking and collection of wild rice stems deal with;

(4) While the picking personnel drive the picking vehicle to pick and process the wild rice stems, the porters control the transport vehicle 1 to carry the wild rice stems on the ground, and transport the wild rice stems to the truck. First, the porters control the transport vehicle 1 to move them to the wild rice stem At the same time, the hydraulic cylinder 4 is turned on to drive the frame 3 to move, and the position of the grab device 6 is adjusted so that the grab device 6 is located above the bamboo pile. Changhe retracts to rotate the grab device 6, thereby adjusting the angle of the grab device 6, so that the grab component is directly above the bamboo pile, and the grabbing rate of the grab component is improved. At the same time, the telescopic cylinder 7 is opened, and the telescopic cylinder 7 is The extension and retraction of 11 adjust the upper and lower positions of the grab device 6, the telescopic rod 11 is extended, so that the grab assembly moves to the position to be grabbed, the third driver 13 is turned on, and the left grab 14 and the right grab Bucket 15 grabs wild rice stems. When the grab device 6 grabs wild wild rice stems, the telescopic rod 11 retracts, and the operator moves the truck 1 to transport the wild rice stems to the truck. The overall operation is automated and the use is more efficient. It is convenient, realizes the integrated picking and transportation of Zizania, effectively speeds up the picking rate of Zizania, while the grab device 6 is grabbing the Zizania, the camera component 23 monitors the working condition of the grab device 6 through the camera 26 at all times, and The monitoring screen is sent to the control room, so that the operators can find problems in time, improve the safety performance of the operation, and reduce the rate of accidents.

The truck 1 includes a mobile forklift 2, a frame 3 and a handling device. The frame 3 is connected with the mobile forklift 2 through a hydraulic cylinder 4. An elastic buffer frame 16 is arranged between the frame 3 and the mobile fork truck 2. The elastic buffer frame 16 includes Left fixed plate 17, buffer main body 18 and right fixed plate 19, buffer main body 18 is positioned between left fixed plate 17 and right fixed plate 19, left fixed plate 17 is fixedly connected with mobile forklift 2, right fixed plate 19 is fixed with frame 3 connection, the elastic buffer frame 16 can not only improve the connection strength between the frame 3 and the mobile forklift 2, but also the elastic buffer frame 16 can make the movement of the frame 3 more stable and reliable. Bucket device 6, adjustment device 5 comprises telescopic cylinder 7, adjustment cylinder 8, support frame 9 and connecting plate 10, telescopic cylinder 7 is fixedly connected with frame 3, telescopic cylinder 7 is connected with support frame 9 by telescopic rod 11, adjusts cylinder 8 is fixedly connected with the support frame 9, the adjusting cylinder 8 is connected with the connection plate 10 through the adjustment rod 12, one end of the support frame 9 is fixedly connected with the frame 3, the grab device 6 includes a third driver 13 and a grab assembly, the third A connecting column 22 is arranged above the driver 13, and the third driver 13 is connected to the connecting plate 10 through the connecting column 22. The design of the connecting column 22 can facilitate the installation and fixing of the third driver 13 and the connecting plate 10, and the installation and disassembly are convenient. The assembly includes a left grab bucket 14 and a right grab bucket 15. The left grab bucket 14 and the right grab bucket 15 are hinged to each other. The design of the hinge meets the design requirements. On the left and right sides, the surfaces of the left grab bucket 14 and the right grab bucket 15 are evenly provided with water leakage holes 20. The design of the water leakage holes 20 can facilitate the cleaning of the left grab bucket 14 and the right grab bucket 15 by the cleaning device in the later stage, and avoid sewage after cleaning. Residue in the left grab bucket 14 and the right grab bucket 15, the design is more reasonable, the top of the left grab bucket 14 and the right grab bucket 15 are all provided with a camera assembly 23, the camera assembly 23 includes a camera 26 and a connecting frame, and the connecting frame includes a first Fixed rod 24 and the second fixed rod 25, one end of the first fixed rod 24 is connected with the third driver 13, the other end of the first fixed rod 24 is movably connected with the second fixed rod 25, the camera 26 is connected with the second fixed rod 25 Connected, the design of the camera assembly 23 can monitor the working conditions of the grab device 6 all the time, so as to find and solve problems in time, effectively improve the operation safety performance, and the structural design is more reasonable.

The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent replacements or modifications based on the present invention to achieve substantially the same technical effect are covered by the protection scope of the present invention.

Claims (8)

1. a kind of automation wild rice stem picking method, which comprises the following steps:

(1) picking vehicle, is moved to specified wild rice stem planting base, restarts visual recognition line by manual control picking vehicle first System, is transmitted to control computer for the landform of wild rice stem planting base and actual size, picking personnel pass through display screen in operating room Information is read, determines that wild rice stem picks scheme further according to actual information, wild rice stem planting base is divided into the side of multiple 1m*1m Lattice, then picking processing is carried out to single grid one by one, according to principle from outside to inside, it will be close to the hay of wild rice stem planting base side It is white to pick, then the wild rice stem at the center of wild rice stem planting base is picked, close the picking more science of wild rice stem Reason, when avoiding first picking the wild rice stem at the center of wild rice stem planting base, picking vehicle is in moving process to wild rice stem planting matrix The wild rice stem of ground side is rolled, and the waste of resource is caused, and effectively controls the picking rate and picking amount of wild rice stem, more just In actual operation；

(2) picking personnel control the work of picking claw, first starting picking cylinder in control room by manipulation button, by adopting The movement that cylinder drives picking frame is plucked, after the first picking claw and the second picking claw are moved to above wild rice stem planting base, picking Cylinder stops movement, and then the first rotary cylinder and the second rotary cylinder start simultaneously, is revolved by the first rotary cylinder and second Rotaring cylinder drives the rotation of the first picking claw and the second picking claw respectively, thus to the position of the first picking claw and the second picking claw It is adjusted, so that the first picking claw is located at the top of one piece of picking grid, the second picking claw is located at another piece of picking grid Top, the first driver and the second driver start simultaneously, drive the first picking claw and the work of the second picking claw, while to two pieces Wild rice stem in picking grid carries out picking processing, after the first picking claw and the second picking claw win wild rice stem, while starting first First picking claw and the second picking claw are rotated to the top of collecting box, then first are adopted by rotary cylinder and the second rotary cylinder It plucks pawl and the second picking claw unclamps, so that wild rice stem is fallen in collecting box, be convenient for subsequent processing, effectively accelerate the picking of wild rice stem Rate；

(3) after the wild rice stem in step (2) enters in collecting box, when the gravity sensor of collecting box bottom senses in collecting box After wild rice stem reaches certain weight, gate opening on collecting box discharge port, while material-pulling device is opened, pusher cylinder drives arc Wild rice stem in collecting box is released from discharge port, then under the guiding function of oriented plate, quickly arranged by the movement of shape scraping wings Collecting box is accumulated on ground out, consequently facilitating the picking collection of subsequent wild rice stem is handled；

(4) while picking personnel drive picking vehicle to carry out picking processing to wild rice stem, carrying personnel manipulates carrier on ground Wild rice stem carry out transportation processing, wild rice stem is transported on truck, the carrier includes movement forklift, rack and handling device, The rack is connected by hydraulic cylinder with the movement forklift, and the handling device includes regulating device and grab mechanisms, institute Regulating device is stated to include telescopic cylinder, adjust cylinder, support frame and connecting plate, the telescopic cylinder and the fixed company of the rack It connecing, the telescopic cylinder is connected by telescopic rod with support frame as described above, and the adjusting cylinder is fixedly connected with support frame as described above, The adjusting cylinder is connected by adjusting rod with the connecting plate, and one end of support frame as described above is fixedly connected with the rack, The grab mechanisms include third driver and grab bucket component, and the grab bucket component includes left grab bucket and right grab bucket, and the left side is grabbed Bucket and right grab bucket are symmetricly set on the left and right sides of the third driver；

Carrying personnel manipulates carrier and is moved by wild rice stem heap first, while hydraulic cylinder is opened and drives machine frame movement, to grabbing The position of bucket device is adjusted, so that grab mechanisms are located at the top of wild rice stem heap, then regulating device is opened, and it is logical to adjust cylinder The elongation and retraction of toning pole carry out rotation process to grab mechanisms, so that the angle of grab mechanisms is adjusted, so that grab bucket group Part is right against above wild rice stem heap, improves the crawl rate of grab bucket component, and simultaneous retractable cylinder is opened, by the elongation of telescopic rod and The adjustment for carrying out grab mechanisms upper and lower position, telescopic rod elongation are retracted, so that grab bucket component is moved to the position of wild rice stem to be grabbed, Third driver is opened, and is carried out crawl operation to wild rice stem by left grab bucket and right grab bucket, after grab mechanisms have grabbed wild rice stem, is stretched Contracting bar retracts, and operator again moves carrier, wild rice stem is transported on truck, integrated operation automation, using more The convenience added realizes the integration picking transport processing of wild rice stem, effectively accelerates the picking rate of wild rice stem.

2. a kind of automation wild rice stem picking method according to claim 1, it is characterised in that: in the step (4), grab While bucket device carries out crawl operation to wild rice stem, camera assembly carries out the moment by working condition of the camera to grab mechanisms Monitoring, and monitored picture is transmitted in control room, so that operator finds the problem in time, safe operation performance is improved, The generation rate of reduction accident.

3. a kind of automation wild rice stem picking method according to claim 1, it is characterised in that: the rack and the movement Elastic buffer frame is provided between fork truck, the elastic buffer frame includes left fixed plate, buffers main body and right fixed plate, described slow Main body is rushed between the left fixed plate and the right fixed plate, the left fixed plate is fixedly connected with the movement forklift, The right fixed plate is fixedly connected with the rack.

4. a kind of automation wild rice stem picking method according to claim 1, it is characterised in that: the left grab bucket and the right side The surface of grab bucket is evenly arranged with leakage hole.

5. a kind of automation wild rice stem picking method according to claim 1, it is characterised in that: the left grab bucket and the right side Connecting rod is provided in grab bucket, the left grab bucket is driven by the connecting rod and the third with the right grab bucket Device is flexibly connected.

6. a kind of automation wild rice stem picking method according to claim 1, it is characterised in that: the left grab bucket and the right side It is hinged between grab bucket.

7. a kind of automation wild rice stem picking method according to claim 1, it is characterised in that: the third driver it is upper Side is provided with connecting column, and the third driver is connected by the connecting column with the connecting plate.

8. a kind of automation wild rice stem picking method according to claim 1, it is characterised in that: the left grab bucket and the right side Camera assembly is provided with above grab bucket, the camera assembly includes camera and connection frame, and the connection frame includes first Fixed link and the second fixed link, one end of first fixed link are connected with the third driver, first fixed link The other end be flexibly connected with second fixed link, the camera is connected with second fixed link.