CN112772133A - Chrysanthemum flower picking method - Google Patents
Chrysanthemum flower picking method Download PDFInfo
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- CN112772133A CN112772133A CN202110180949.4A CN202110180949A CN112772133A CN 112772133 A CN112772133 A CN 112772133A CN 202110180949 A CN202110180949 A CN 202110180949A CN 112772133 A CN112772133 A CN 112772133A
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- 241000723353 Chrysanthemum Species 0.000 title claims abstract description 76
- 235000007516 Chrysanthemum Nutrition 0.000 title claims abstract description 76
- 238000000034 method Methods 0.000 title claims abstract description 30
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- 244000126211 Hericium coralloides Species 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 7
- 229920006351 engineering plastic Polymers 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims 1
- 239000007924 injection Substances 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 8
- 238000001746 injection moulding Methods 0.000 description 3
- 241000131317 Capitulum Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000011295 pitch Substances 0.000 description 2
- 239000013598 vector Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 235000009604 Chrysanthemum X morifolium Nutrition 0.000 description 1
- 244000189548 Chrysanthemum x morifolium Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000000926 separation method Methods 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
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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
- A01D46/22—Baskets or bags attachable to the picker
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Abstract
The invention discloses a chrysanthemum picking method, which comprises the following steps: s1: the picking height adjusting device controls the front end of the chain type picking conveying mechanism to descend below the chrysanthemum flowers, and the comb-tooth plate bars are controlled to move along the conveying direction; s2, controlling the walking power chassis to move forwards, and controlling the movement speed of the comb teeth by detecting the movement speed of the walking power chassis and the inclination angle of the chain type picking and conveying mechanism in real time to ensure that the comb teeth move upwards vertically or in an inclined backwards track; s3: conveying the chrysanthemum picked by the comb teeth into a collecting device until the chrysanthemum picking is finished. The automatic picking and collecting device can complete the full-automatic picking and collecting process of chrysanthemum, and can avoid the phenomenon that the subsequent comb teeth can not normally operate due to the fact that the chrysanthemum which does not enter the comb teeth is pushed forwards.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a chrysanthemum picking method.
Background
In recent years, the planting area of chrysanthemum in China is rapidly increased, and the existing planting area is over million mu only in Jiangsu province. In addition to being used for ornamental and flower supply markets, a large number of chrysanthemum flowers are grown to provide raw materials for the production of foods, medicines and health products. The chrysanthemum used as food, medicine and health product includes chrysanthemum morifolium, Beijing chrysanthemum, evening chrysanthemum, golden chrysanthemum, etc. the chrysanthemum has growth height of 350-550mm, upright stem, head inflorescence of 32-46mm diameter and different size, and the stem and branch connected to the head inflorescence have diameter of 1.5-2.5mm, and the average breaking strength of the joint between the head inflorescence and the stem and branch is 2.5-7.5N.
Through retrieval, no report of mechanized chrysanthemum picking method technology is found at present. At present, the chrysanthemum is picked up by pulling up the head-shaped inflorescence manually or by using a simple tool to disconnect the connection part of the head-shaped inflorescence and the stem and the branch. Even if the same chrysanthemum varieties grow in the same land, the growth heights of the chrysanthemums in the picking period have larger difference (the general height difference is about 200mm), and the head-shaped inflorescences are distributed unevenly, so that the problems of high labor intensity, low efficiency, high cost and the like are caused by depending on manual picking. Therefore, the mechanical picking of the chrysanthemum is an urgent need in the market.
Disclosure of Invention
The invention aims to provide a full-automatic chrysanthemum picking method to solve the problems.
In order to achieve the purpose, the invention discloses a chrysanthemum picking method, which adopts a chrysanthemum picking machine for picking, wherein the chrysanthemum picking machine comprises a walking power chassis, a picking conveying platform, a picking height adjusting device and a collecting device, the picking conveying platform is arranged on the walking power chassis and comprises a bracket and a chain type picking conveying mechanism arranged on the bracket, one end of the picking height adjusting device is hinged with the front end of the bracket, the other end of the picking height adjusting device is hinged with the walking power chassis, the rear end of the bracket is hinged with the walking power chassis, the chain type picking conveying mechanism comprises a plurality of rows of comb plate strips arranged along the conveying direction, the comb plate strips are distributed with a plurality of comb teeth for picking chrysanthemum along the width direction of the chain type picking conveying mechanism, and the rear end of the conveying direction of the chain type picking conveying mechanism is connected with the collecting device, the method comprises the following steps:
s1: the picking height adjusting device controls the front end of the chain type picking conveying mechanism to descend below the chrysanthemum layer, and the comb-tooth plate strips are controlled to move along the conveying direction;
s2, controlling the walking power chassis to move forwards, and controlling the movement speed of the comb teeth by detecting the movement speed of the walking power chassis and the inclination angle of the chain type picking and conveying mechanism in real time to ensure that the comb teeth move upwards in a vertical or backward inclined track;
s3: conveying the chrysanthemum picked by the comb teeth into a collecting device until the chrysanthemum picking is finished.
Further, the distance between the comb teeth adjacent to each other in the front-back direction along the conveying direction is larger than the horizontal spacing distance between the track lines of the comb teeth adjacent to each other in the front-back direction along the conveying direction.
Further, in the step S2, V is controlledccosΦ≥VjWherein V iscThe conveying speed of the comb teeth along the conveying direction is phi, the inclination angle of the chain type picking conveying mechanism and the horizontal plane is VjThe walking speed of the walking power chassis during operation.
Furthermore, the chain type picking and conveying mechanism further comprises a driving motor, a driving chain wheel, a driven chain wheel, a sleeve roller chain and a plane lath, wherein the bottoms of the multiple rows of comb-tooth laths and the plane lath are hinged with the sleeve roller chain to form a chrysanthemum conveying surface, the driving motor is in transmission connection with the driving chain wheel, and two ends of the sleeve roller chain are in transmission connection with the driving chain wheel and the driven chain wheel respectively.
The comb-tooth-shaped roller chain further comprises a mandrel, the comb-tooth-shaped lathes and the plane lathes which are adjacent to each other are nested front and back and hinged with the mandrel, and two ends of the mandrel are hinged with roller sleeves of the sleeve roller chain.
Furthermore, the comb-tooth lath comprises a plurality of comb-tooth lath units hinged with the mandrel, the plane lath comprises a plane lath unit hinged with the mandrel, and the comb-tooth lath units and the plane lath unit are both formed by injection molding of engineering plastics.
Furthermore, the support comprises a left side plate, a right side plate and a support frame, two ends of the support frame are fixedly connected with the left side plate and the right side plate, the support frame is hinged to the picking height adjusting device, two ends of a driving shaft pivoted with the driving chain wheel and two ends of a driven shaft pivoted with the driven chain wheel are both pivoted with the left side plate and the right side plate, and the rotary driving piece is installed on the left side plate or the right side plate.
Furthermore, the spacing distance between adjacent comb teeth on the comb tooth lath is 4-8mm, and the end part of the comb tooth is bent towards the rear end of the conveying direction of the chain type picking conveying mechanism.
Furthermore, the comb teeth are of an arch structure consisting of a plurality of tangent arc lines and straight lines, and the distance between the upper end and the lower end of each comb tooth is greater than 45 mm; and relative to the connecting line of the upper end point and the lower end point of the comb teeth, the maximum concave depth of the comb teeth is not less than 15mm, the upper part of the profile line of the front ends of the comb teeth is an upward-tilted straight line, and the included angle between the straight line and the bottom plane of the comb teeth plate strip is less than 10 degrees.
Furthermore, the collecting device comprises a transverse belt conveyor, a longitudinal belt conveyor and a collecting box, the conveyor belt of the transverse belt conveyor is positioned below the output end of the chain type picking conveying mechanism, the input end of the conveyor belt of the longitudinal belt conveyor is positioned below the output end of the conveyor belt of the transverse belt conveyor, and the output end of the conveyor belt of the longitudinal belt conveyor is positioned above the collecting box.
Compared with the prior art, the invention has the advantages that:
according to the picking method, the front end of the picking conveying platform can be adjusted to a proper height by the picking height adjusting device according to the growth height of the chrysanthemum, so that the adaptability of the picking machine is improved; when the comb teeth move forwards, the adjacent comb teeth are inserted at two sides of a stem branch below the head-shaped inflorescence, when the comb teeth move upwards, the head-shaped inflorescence can be separated from the stem branch, when the comb teeth move upwards and backwards, the picked head-shaped inflorescence can be supported and thrown onto the picking conveying table, and when the head-shaped inflorescence is conveyed to the rear part of the picking conveying table, the head-shaped inflorescence is thrown and falls into the collecting device, so that the full-automatic process of picking and collecting chrysanthemum is completed; the trajectory line of further control broach upwards and backward movement, avoid advancing the chrysanthemum that does not get into the broach and lead to follow-up broach can not normally operate.
The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic process diagram of a chrysanthemum picking process disclosed in a preferred embodiment of the present invention;
FIG. 2 is a schematic control diagram of the chrysanthemum picking process disclosed in the preferred embodiment of the present invention;
FIG. 3 is a schematic front view of the chain comb chrysanthemum picker disclosed in the preferred embodiment of the invention;
FIG. 4 is a schematic top view of the chain comb chrysanthemum picker disclosed in the preferred embodiment of the present invention;
fig. 5 is a schematic structural view of the picking delivery platform disclosed in the preferred embodiment of the present invention;
fig. 6 is a schematic right view of a picking conveyor as disclosed in the preferred embodiment of the present invention;
fig. 7 is a schematic left side view of a picking conveyor as disclosed in the preferred embodiment of the present invention;
FIG. 8 is an assembled axial view of the comb strip and mandrel disclosed in the preferred embodiment of the present invention;
FIG. 9 is a schematic front view of the assembly of the comb strip and mandrel disclosed in the preferred embodiment of the present invention;
FIG. 10 is a schematic front view of the assembly of the disclosed planar stave and mandrel in accordance with the preferred embodiment of the present invention;
FIG. 11 is a schematic front view of the assembly of the disclosed planar stave and mandrel in accordance with the preferred embodiment of the present invention;
FIG. 12 is an axial schematic view of the comb slat unit disclosed in the preferred embodiment of the present invention;
fig. 13 is a side view schematically showing the comb slat unit disclosed in the preferred embodiment of the present invention.
Illustration of the drawings:
1. picking and conveying platforms; 11. a support; 111. a left side plate; 112. a right side plate; 113. a support frame; 12. a chain picking and conveying mechanism; 121. comb-tooth strips; 1211. comb teeth; 1212. connecting wires; 1213. a comb plate unit; 122. a drive sprocket; 123. a driven sprocket; 124. a bush roller chain; 125. a drive motor; 126. a planar slat; 1261. a planar slat unit; 127. a mandrel; 128. a drive shaft; 129. a driven shaft;
2. a walking power chassis;
3. a picking height adjusting device;
4. a collection device; 41. a transverse belt conveyor; 42. a longitudinal belt conveyor; 43. and a collection box.
5. A B track line; 6. b, tooth; 7. a trajectory line; 8. and (A) teeth.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
As shown in fig. 3-13, the embodiment of the invention firstly discloses a chain type comb chrysanthemum picking machine, which comprises a walking power chassis 2, a picking conveying platform 1 arranged on the walking power chassis 2, a picking height adjusting device 3 and a collecting device 4, wherein the walking power chassis 2 can be in a tire walking or crawler walking mode, the picking height adjusting device 3 adopts a hydraulic oil cylinder or an electric push rod, and in a picking operation state, the inclination angle between the picking conveying platform 1 and the horizontal plane is 15-60 degrees. The picking and conveying platform 1 comprises a support 11 and a chain type picking and conveying mechanism 12 arranged on the support 11, one end of a picking height adjusting device 3 is hinged with the front end of the support 11, the other end of the picking height adjusting device is hinged with a walking power chassis 2, the front end of the picking and conveying platform 1 is adjusted to a proper height by the picking height adjusting device 3 according to the growth height of the chrysanthemum, the rear end of the support 11 is hinged with the walking power chassis 2, the chain type picking and conveying mechanism 12 comprises a plurality of rows of comb-tooth laths 121 arranged along the conveying direction, a plurality of comb teeth 1211 used for picking the chrysanthemum are distributed on the comb-tooth laths 121 along the width direction of the chain type picking and conveying mechanism 12, therefore, the forward, upward and backward compound movement of the comb-tooth laths 121 is realized through the linkage of the picking height adjusting device 3 and the walking power chassis 2, particularly, when the comb teeth 1211 moves forward, the adjacent comb teeth 1211 are inserted, when moving upwards, the capitulum can be separated from the stem and branch, and when moving upwards and backwards, the capitulum under picking can be supported and thrown onto the picking conveying platform 1. Because the rear end of the conveying direction of the chain type picking conveying mechanism 12 is connected with the collecting device 4, the picked chrysanthemum can be automatically conveyed into the collecting device 4, and the full automation of chrysanthemum picking and collecting is realized.
In this embodiment, the chain picking and conveying mechanism 12 further includes a driving motor 125, a driving sprocket 122, a driven sprocket 123, a bush roller chain 124 and a planar slat 126, the bottoms of the comb-tooth slats 121 and the planar slat 126 are hinged to the bush roller chain 124 to form a chrysanthemum conveying surface, specifically, the distance between adjacent comb-tooth slats 121 is 2 chain pitches, and 2 planar slats 126 are hinged between adjacent comb-tooth slats 121, the chrysanthemum conveying surface can prevent chrysanthemum from falling before being conveyed to the collecting device 4, the driving motor 125 is a motor and is in transmission connection with the driving sprocket 122, and two ends of the bush roller chain 124 are in transmission connection with the driving sprocket 122 and the driven sprocket 123 respectively, so as to realize the function of conveying while picking.
In this embodiment, in order to realize the connection of the comb-teeth strips 121, the planar strips 126 and the sleeve roller chain 124, a mandrel 127 is further included, and the adjacent comb-teeth strips 121 and the planar strips 126 and the adjacent planar strips 126 are nested one behind the other and hinged to the mandrel 127, that is, the mandrel 127 passes through holes in the side faces of the adjacent comb-teeth strips 121 and the planar strips 126, and the mandrel 127 passes through a hole in the side face of the adjacent planar strip 126 (when two planar strips 126 are disposed between the adjacent comb-teeth strips 121), and both ends of the mandrel 127 are hinged to the roller sleeves of the sleeve roller chain 124, so that the comb-teeth strips 121, the planar strips 126 and the sleeve roller chain 124 are skillfully combined, thereby simplifying the overall structure and avoiding similar welding deformation and increase of welding workload.
In the embodiment, the comb-teeth strip 121 comprises a plurality of comb-teeth strip units 1213 hinged to the mandrel 127, the planar strip 126 comprises a planar strip unit 1261 hinged to the mandrel 127, the comb-teeth strip units 1213 and the planar strip unit 1261 are both made of engineering plastics by injection molding, and the manufacturing cost of the comb-teeth strip 121 and the planar strip 126 is significantly reduced by a split injection molding process.
In this embodiment, the bracket 11 includes a left side plate 111, a right side plate 112 and a supporting frame 113, two ends of the supporting frame 113 are fixedly connected to the left side plate 111 and the right side plate 112, and the left side plate 111 and the right side plate 112 simultaneously function as left and right baffles to prevent the chrysanthemum from sliding down from two sides. The support frame 113 is hinged with the picking height adjusting device 3, two ends of a driving shaft 128 hinged with the driving chain wheel 122 and two ends of a driven shaft 129 hinged with the driven chain wheel 123 are hinged with the left side plate 111 and the right side plate 112, and the driving motor 125 is installed on the left side plate 111 or the right side plate 112.
In this embodiment, when the device is specifically arranged, the distance between adjacent comb teeth 1211 on the comb strip 121 is 4-8mm, and the distance is greater than the diameter of the chrysanthemum stem and smaller than the outer diameter of the chrysanthemum, so that the device is convenient for picking. And the end of the comb 1211 is bent toward the rear end in the conveying direction of the chain type picking conveyor 12, so that the chrysanthemum is prevented from falling off from the end of the comb 1211 after being picked off the stems. Specifically, through repeated experiments, the comb 1211 is an arch structure formed by a plurality of tangent arc lines and straight lines, and the distance between the upper end and the lower end of the comb 1211 is greater than 45 mm; and relative to the connecting line 1212 of the upper and lower end points of the comb 1211, the maximum concave depth of the comb 1211 is not less than 15mm, the upper part of the contour line of the front end of the comb 1211 is a straight line tilting upwards, and the included angle between the straight line and the bottom plane of the comb strip 121 is less than 10 degrees.
In this embodiment, the collecting device 4 includes a transverse belt conveyor 41, a longitudinal belt conveyor 42 and a collecting box 43, the conveyor belt of the transverse belt conveyor 41 is located below the output end of the chain picking conveyor 12, so that the flowers falling from the chain picking conveyor 12 fall onto the conveyor belt of the transverse belt conveyor 41, the input end of the conveyor belt of the longitudinal belt conveyor 42 is located below the output end of the conveyor belt of the transverse belt conveyor 41, so that the flowers on the conveyor belt of the transverse belt conveyor 41 fall onto the conveyor belt of the longitudinal belt conveyor 42, the output end of the conveyor belt of the longitudinal belt conveyor 42 is located above the collecting box 43, and similarly, the flowers on the conveyor belt of the longitudinal belt conveyor 42 fall into the collecting box 43. Wherein the collection box 43 is replaceably mounted, once full, to replace an empty box or to transfer it to another container.
Then, the invention discloses a chrysanthemum picking method, as shown in fig. 1-2, the chrysanthemum picking machine is adopted, wherein, referring to fig. 1, in order to simulate the manual picking motion process, the four working links of inserting and grabbing (corresponding to ab segment), lifting and picking and conveying (corresponding to bc segment), flower throwing (corresponding to cd segment) and returning (corresponding to da segment) in the chrysanthemum picking process are completed by superposing two motions of chain transmission characteristic motions (two segments of straight lines and two segments of circular arcs) generated by the forward linear motion of a chassis of the picking machine and the operation of comb teeth into a picking motion track suitable for chrysanthemum picking. Specifically, the method comprises the following steps:
s1: the picking height adjusting device 3 controls the front end of the chain type picking conveying mechanism 12 to descend below the flower layer of the chrysanthemum, controls the comb-tooth lath 121 to move along the conveying direction, can be regarded as corresponding to the section ab of fig. 1, inserts the comb tooth 1211 into the grabbing section, the comb tooth 1211 extends into the flower cluster from the right lower side to the upper side and from the back to the front at the section, clamps the flower stem into the tooth space of the comb tooth 1211, the flower is positioned above the comb tooth 1211, and the comb tooth 1211 finishes the grabbing process before picking;
s2, controlling the walking power chassis 2 to move forward, and detecting the movement speed V of the walking power chassis 2 in real timejAnd the inclination angle phi of the chain picking conveyor 12 to control the speed of movement of the comb 1211, ensuring that the comb 1211 moves upwards in a vertical or backward inclined trajectory during picking, in particular control Vc cosΦ≥VjWherein V iscAlong the comb 1211The conveying speed in the conveying direction phi is the inclination angle of the chain picking and conveying mechanism 12 and the horizontal plane VjThe traveling speed of the traveling power chassis 2 during operation. This step can be regarded as corresponding to the section bc of fig. 1, and is a picking and conveying section, in which the comb 1211 moves upward mainly along the branches and stalks of the picked chrysanthemum, when the comb 1211 moves to the receptacle with the larger diameter and then moves upward, the receptacle and the stalks are pulled, and when the pulling force is greater than the connecting strength of the stalks, the receptacle and the stalks break at the thinnest section of the stalks to separate the flowers from the branches, and the picked flowers are conveyed upward along with the comb 1211. During picking and conveying, the chrysanthemum which does not enter the grabbing section cannot be pushed forwards, so that the subsequent comb 1211 cannot normally operate, and therefore, a main line of a track of the bc section should be a straight line which is vertically upward or a straight line which is inclined backwards and upwards. Forward working speed V of picking machinejAnd the rotational speed n of the drive sprocket 122 determines the linear direction of the bc main section, assuming that the linear speed of the bush roller chain 124 is VcPi Dn/60 (pitch circle diameter D of the drive sprocket 122 and its speed n). During picking, the actual motion vector of comb 1211 is set to
) Is the superposition of two motion velocity vectors, namely:
its speed in the horizontal direction:
in order to satisfy that the movement of the comb 1211 (i.e. the trajectory of the bc segment) in the picking stage is a straight line moving vertically upwards, i.e. the movement speed in the horizontal direction is "0":
In the numerical value, Vj＝Vc cosΦ。
When V isc cosΦ＝VjWhen the straight line segment bc is a straight line vertically upward, the rotation speed n of the driving sprocket 122 is 60Vj/(π Dcos φ), this is the ideal trajectory.
When V isc cosΦ>VjWhen the linear section bc is a straight line inclined to the rear and upward, the rotation speed n of the driving sprocket 122 is equal to>60Vj/(πDcosΦ)。
When V isc cosΦ<VjWhen the linear section bc is a straight line inclined upward and forward, the rotation speed n of the driving sprocket 122 is equal to<60Vj/(π Dcos φ), which is an undesirable trajectory.
S3: after the chrysanthemum is picked by the comb teeth, when the picked flower is conveyed to the top end of the picking chain, the flower is thrown into the chain type picking conveying mechanism 12 under the action of conveying speed inertia and gravity, the cd section is formed, and then the picking height adjusting device 3 controls the front end of the chain type picking conveying mechanism 12 to descend below the chrysanthemum flower and the da section corresponds to the return section.
Specifically, referring to fig. 1, the movement locus of the a tooth is an a locus line 7, the movement locus of the B tooth 6 is a B locus line 5, the B locus line 5 is a picking locus line of the B tooth 6 immediately adjacent to the a tooth 8, and the horizontal separation distance t between the a locus line 7 and the B locus line 5 is referred to as an effective picking distance of a single comb tooth 1211. To prevent the miss-picking phenomenon from occurring, it is apparent that it should be satisfied that the effective picking distance t of a single comb 1211 is less than the comb opening length l, i.e.: t is less than l, otherwise, the mining leakage phenomenon can be generated.
The present invention is not limited to the embodiments, but various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A chrysanthemum picking method is characterized in that a chrysanthemum picking machine is adopted for picking, the chrysanthemum picking machine comprises a walking power chassis (2), a picking conveying platform (1) arranged on the walking power chassis (2), a picking height adjusting device (3) and a collecting device (4), the picking conveying platform (1) comprises a support (11) and a chain type picking conveying mechanism (12) arranged on the support (11), one end of the picking height adjusting device (3) is hinged with the front end of the support (11), the other end of the picking height adjusting device is hinged with the walking power chassis (2), the rear end of the support (11) is hinged with the walking power chassis (2), the chain type picking conveying mechanism (12) comprises a plurality of rows of comb-tooth strips (121) arranged along the conveying direction, a plurality of comb teeth (1211) used for picking chrysanthemum are distributed on the comb-tooth strips (121) along the width direction of the chain type picking conveying mechanism (12), the rear end of the chain type picking conveying mechanism (12) in the conveying direction is connected with the collecting device (4), and the method comprises the following steps:
s1: the picking height adjusting device (3) is used for controlling the front end of the chain type picking conveying mechanism (12) to descend below the chrysanthemum layer, and the comb-tooth plate strips (121) are controlled to move along the conveying direction;
s2, controlling the walking power chassis (2) to move forwards, and controlling the movement speed of the comb teeth (1211) by detecting the movement speed of the walking power chassis (2) and the inclination angle of the chain type picking and conveying mechanism (12) in real time to ensure that the comb teeth (1211) move upwards in a vertical or backward inclined track;
s3: conveying the chrysanthemum picked by the comb teeth (1211) into a collecting device (4) until the chrysanthemum picking is finished.
2. The chrysanthemum picking method according to claim 1, wherein the distance between the front and back adjacent comb teeth (1211) along the conveying direction is greater than the horizontal spacing distance between the trajectory lines of the front and back adjacent comb teeth (1211) along the conveying direction.
3. The chrysanthemum picking method according to claim 1, wherein the chrysanthemum is picked upIn step S2, control VccosΦ≥VjWherein V iscThe conveying speed of the comb teeth (1211) along the conveying direction is phi, the inclination angle of the chain type picking conveying mechanism (12) and the horizontal plane is VjThe walking speed of the walking power chassis (2) during operation.
4. The chrysanthemum picking method according to claim 1, wherein the chain picking conveying mechanism (12) further comprises a driving motor (125), a driving chain wheel (122), a driven chain wheel (123), a bush roller chain (124) and a plane slat (126), the bottoms of the comb-tooth slat (121) and the plane slat (126) are hinged with the bush roller chain (124) to form a chrysanthemum conveying surface, the driving motor (125) is in transmission connection with the driving chain wheel (122), and two ends of the bush roller chain (124) are in transmission connection with the driving chain wheel (122) and the driven chain wheel (123) respectively.
5. The chrysanthemum picking method according to claim 4, further comprising a mandrel (127), wherein the adjacent comb-tooth slats (121) and planar slats (126) and the adjacent planar slats (126) are nested one behind the other and hinged with the mandrel (127), and both ends of the mandrel (127) are hinged with roller sleeves of the sleeve roller chain (124).
6. The chrysanthemum picking method according to claim 5, wherein the comb-shaped lath (121) comprises a plurality of comb-shaped lath units (1213) hinged with the mandrel (127), the plane lath (126) comprises a plane lath unit (1261) hinged with the mandrel (127), and the comb-shaped lath units (1213) and the plane lath unit (1261) are both injection molded by engineering plastics.
7. The chrysanthemum picking method according to claim 4, wherein the support (11) comprises a left side plate (111), a right side plate (112) and a support frame (113), two ends of the support frame (113) are fixedly connected with the left side plate (111) and the right side plate (112), the support frame (113) is hinged with the picking height adjusting device (3), two ends of a driving shaft (128) hinged with the driving chain wheel (122) and a driven shaft (129) hinged with the driven chain wheel (123) are hinged with the left side plate (111) and the right side plate (112), and the driving motor (125) is installed on the left side plate (111) or the right side plate (112).
8. The chrysanthemum picking method according to any one of claims 1 to 7, wherein the distance between adjacent comb teeth (1211) on the comb tooth strip (121) is 4 to 8mm, and the end of the comb teeth (1211) is bent toward the rear end of the conveying direction of the chain picking conveyor (12).
9. The chrysanthemum picking method according to claim 8, wherein the comb teeth (1211) are in an arch structure consisting of a plurality of tangent arcs and straight lines, and the distance between the upper end and the lower end of the comb teeth (1211) is more than 45 mm; and relative to a connecting line (1212) of the upper end point and the lower end point of the comb teeth (1211), the maximum concave depth of the comb teeth (1211) is not less than 15mm, the upper part of the front end contour line of the comb teeth (1211) is an upward tilting straight line, and the included angle between the straight line and the bottom plane of the comb teeth strip (121) is less than 10 degrees.
10. The chrysanthemum picking method according to any one of claims 1 to 7, wherein the collecting device (4) comprises a transverse belt conveyor (41), a longitudinal belt conveyor (42) and a collection box (43), the conveyor belt of the transverse belt conveyor (41) is located below the output end of the chain picking conveyor (12), the input end of the conveyor belt of the longitudinal belt conveyor (42) is located below the output end of the conveyor belt of the transverse belt conveyor (41), and the output end of the conveyor belt of the longitudinal belt conveyor (42) is located above the collection box (43).
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| CN114365624A (en) * | 2022-01-25 | 2022-04-19 | 皖西学院 | An efficient agricultural picking device based on DELTA parallel manipulator |
| CN115413487A (en) * | 2022-10-10 | 2022-12-02 | 浙江理工大学 | An integrated picker for picking and collecting Hangbai chrysanthemum and its picking method for Hangbai chrysanthemum |
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Application publication date: 20210511 |