CN100513096C - Cartesian coordinate type fruit picking mechanical arm device - Google Patents
Cartesian coordinate type fruit picking mechanical arm device Download PDFInfo
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- CN100513096C CN100513096C CNB2007101768278A CN200710176827A CN100513096C CN 100513096 C CN100513096 C CN 100513096C CN B2007101768278 A CNB2007101768278 A CN B2007101768278A CN 200710176827 A CN200710176827 A CN 200710176827A CN 100513096 C CN100513096 C CN 100513096C
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Abstract
The present invention relates to a right-angle coordinate-typed fruit-picking manipulator apparatus, which comprises a working supporting bracket, a horizontal movement mechanism, a vertical-movement mechanism and an in-depth movement mechanism, wherein, the working supporting bracket comprises a plate work station and an upper supporting bracket; a horizontal sliding track is arranged on the upper supporting bracket; the horizontal movement mechanism comprises a horizontal guide screw driven by a horizontal motor through a harmonic reducer and a horizontal sliding block that is connected to the horizontal guide screw and is guided by two horizontal optic levers; the vertical movement mechanism comprises a vertical guide screw driven by a vertical motor through a harmonic reducer and a vertical sliding block that is connected to the vertical guide screw and is guided by two vertical optic levers; the bottom of the vertical movement mechanism is connected to the top of the horizontal sliding block; the top of the vertical movement mechanism is slidedly arranged inside the horizontal sliding track of the upper supporting bracket; the in-depth movement mechanism comprises a rack driven by a gear motor through a gear; the rack is arranged on a rack supporting plate; the rack supporting plate is fixedly connected to one side of the vertical sliding block; a picking gripper is connected to one end of the rack. The present invention can be widely applied to the automatic picking of the vertical-suspension fruit.
Description
Technical field
The present invention relates to a kind of agricultural machinery, particularly about a kind of Cartesian coordinate type fruit picking mechanical arm device.
Background technology
Along with the progressively expansion of greenhouse vegetable cultivated area, yield of vegetables improves year by year.But the harvesting of vegetables is still adopted manually and is carried out, and labour intensity is also very big.The rural laborer makes the progressively raising of labor cost gradually to the transfer of the secondary industry and the tertiary industry, presses for the problem that solves picking mechanicalization.About the research of fruit picking mechanical, Japan, the U.S. etc. have developed picking robots such as apple, oranges and tangerines, Chinese cabbage, watermelon, cucumber, tomato, and the manipulator of these robots adopts rotary joint and straight moving
The joint is fit to pluck a kind of fruit, and relatively flexibly, but control is difficult, and versatility is not high.
Summary of the invention
At above problem, the purpose of this invention is to provide the Cartesian coordinate type fruit picking mechanical arm device that a kind of control simple in structure, easy, positioning accuracy high pass are used.
For achieving the above object, the present invention takes following technical scheme: a kind of Cartesian coordinate type fruit picking mechanical arm device, and it comprises Working rack, horizontal mobile mechanism, vertical movement mechanism and depth travel mechanism; Described Working rack comprises flat bench and upper bracket, and described upper bracket is provided with a horizontal slideway; Described horizontal mobile mechanism comprises one by the horizontal screw lead of horizontal motor by the harmonic speed reducer driving, and one is connected the cross sliding clock that also leads by two horizontal feed rods on the described horizontal screw lead; Described vertical movement mechanism comprises one by the down-feed screw of motor vertical by the harmonic speed reducer drive, one is connected the vertical slipper that also leads by two vertical feed rods on the described down-feed screw, the bottom of described vertical movement mechanism is connected described cross sliding clock top, and the top of described vertical movement mechanism is slidingly installed in the horizontal slideway of described upper bracket; Described depth travel mechanism comprises one by the tooth bar of gear motor by gear driven, and described tooth bar is arranged on the rack support plate, and described rack support plate is fixedly connected on described vertical slipper one side; Described harvesting paw is connected on the paw connecting plate of described tooth bar one end.
Described upper bracket comprises " ∏ " type support that is arranged on described workbench both sides ', be provided with a motor support bar and a down-feed screw support bar that has a decelerator at the crossbeam of the described support in both sides middle part, be respectively arranged with the horizontal slideway of a long hole shape at described motor support bar and down-feed screw support bar middle part.
Described horizontal mobile mechanism comprises two horizontal screw lead fixed heads and a motor fixing plate that is fixed on the workbench, described horizontal screw lead two ends respectively by bearings on described horizontal screw lead fixed head, the motor-driven harmonic speed reducer of described level is connected on the described motor fixing plate, and connects an external part of described horizontal screw lead by a shaft coupling.
Described vertical movement mechanism comprises two supporting seats that are arranged on described down-feed screw two ends respectively by bearing, the supporting seat of described bottom is fixedly connected on the top of described cross sliding clock, described top braces seat is positioned at the bottom surface of described horizontal slideway, the external part of described down-feed screw connects the harmonic speed reducer of the motor vertical driving that is arranged on described horizontal slip end face by a shaft coupling.
Described depth travel mechanism is included in two guide plate of gear racks that are provided with on the described rack support plate, described tooth bar is slidingly arranged between described two guide plate of gear racks, described gear motor is fixed on the described guide plate of gear rack by a gear motor fixed head, described gear is supported on the described two gear fixed heads by gear shaft, and connects described gear motor by a shaft coupling.
One fruit collecting box is set on the described workbench.
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention is owing to be provided with horizontal mobile mechanism, on horizontal mobile mechanism, be provided with vertical movement mechanism, on vertical movement mechanism, be provided with depth travel mechanism, therefore in depth travel mechanism, be provided with connection and can pluck the connecting plate of the paw of different fruits, can realize the moving of space three-dimensional direction of picking fruit device of the present invention simultaneously.2, the present invention is owing to adopt two leading screws to do moving of along continuous straight runs and vertical direction respectively, therefore can guarantee to pluck paw regulates with the trace of vertical direction in the horizontal direction, the present invention simultaneously adopts the motor driven gear tooth bar, can be according to the position of fruit, determine the distance that tooth bar stretches out, make the harvesting paw of tooth bar front end vertically grasp fruit, make picking mechanical arm device operation of the present invention especially flexibly accurately at depth direction.3, the present invention can finish the purpose that can pluck different fruits by changing different harvesting paws, and mechanical versatility is good, and particularly the present invention adopts driven by power, and is simple in structure, and cost is low, environmentally safe.The present invention mainly is applicable to the automation harvesting of vertical hanging formula fruit, can realize quick and precisely, accurately locate, and has vast market prospect.
Description of drawings
Fig. 1 is overall structure figure of the present invention
Fig. 2 is a cross sliding clock schematic diagram of the present invention
Fig. 3 is the schematic top plan view of Fig. 2
Fig. 4 is that schematic diagram is looked on the left side of Fig. 2
Fig. 5 is a vertical slipper schematic diagram of the present invention
Fig. 6 is the schematic top plan view of Fig. 5
Fig. 7 is that schematic diagram is looked on the left side of Fig. 5
Fig. 8 is vertical slipper of the present invention and pinion and rack connection diagram
Fig. 9 is the schematic top plan view of Fig. 8
Figure 10 is a pinion and rack front view of the present invention
Figure 11 is that schematic diagram is looked on the left side of Figure 10
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
As shown in Figure 1, the present invention includes Working rack, horizontal mobile mechanism, vertical movement mechanism and depth travel mechanism.
Working rack comprises a flat bench 1, each fixes one group of " ∏ " type support 2,2 ' in the both sides of workbench 1, end face at two pack supports 2,2 ' crossbeam 2a, 2a ' middle part is provided with a motor support bar 3 that has a decelerator, and a down-feed screw support bar 4 corresponding with motor support bar 3 is set in the bottom surface at two pack supports 2,2 ' crossbeam 2a, 2a ' middle part.Motor support bar 3 and down-feed screw support bar 4 middle parts are respectively arranged with the horizontal slideway 5,5 ' of a long hole shape.
Horizontal mobile mechanism comprises that the workbench 1 that is arranged on two pack supports 2,2 ' inboard is provided with two fixed heads 6,6 ', goes up at two fixed heads 6,6 ' to connect a horizontal screw lead 7 by bearing, and an end of horizontal screw lead 7 stretches out fixed head 6 '.Horizontal screw lead 7 upper and lower a horizontal feed rod 8,8 ' that is connected on the fixed head 6,6 ' is set respectively.On horizontal screw lead 7 and two horizontal feed rods 8,8 ', wear a cross sliding clock 9.Shown in Fig. 2～4, cross sliding clock 9 is " ∏ " type, and the top is provided with fixedly connected hole 10, and two sides are provided with screw 11 and through hole 12.As Fig. 1, shown in Figure 4, horizontal screw lead 7 is connected in the screw 11, and two horizontal feed rods 8,8 ' are located in the two through hole 12 slidably.The fixed head 6 ' outside with horizontal screw lead 7 external parts one side, be provided with a motor fixing plate 13 that is fixed on the workbench 1, the motor 14 that on motor fixing plate 13, fixedly has harmonic speed reducer, the output of motor 14 is connected with the external part of horizontal screw lead 7 by a shaft coupling 15 and drives its rotation, and the rotation of horizontal screw lead 7 drives cross sliding clock 9 and slides along two horizontal feed rods 8,8 '.
As shown in Figure 1, vertical movement mechanism is included in the top of cross sliding clock 9 and the supporting seat 16,17 that down-feed screw support bar 4 bottoms are provided with respectively, on two supporting seats 16,17, connect a down-feed screw 18 by bearing, supporting seat 17 is stretched out in the upper end of down-feed screw 18, passes the horizontal slideway 5 ' of long hole shape on the down-feed screw support bar 4.In the horizontal slideway 5 of motor support bar 3 top long hole shapes a vertical motor that has harmonic speed reducer 24 is set, the output of motor 24 connects the external part of down-feed screw 18 by a shaft coupling 25.The one vertical feed rod 19,19 ' that is connected on the supporting seat 16,17 is set respectively in down-feed screw 18 left and right sides, on down-feed screw 18 and feed rod 19,19 ', wears a vertical slipper 20.Shown in Fig. 5～7, the front of vertical slipper 20 and a side are for opening wide, the end face of vertical slipper 20 and bottom surface are respectively arranged with the screw up and down 21 that is connected with down-feed screw 18 and pass two vertical feed rods 19,19 ' through hole 22, and the side of vertical slipper 20 is provided with several fixedly connected holes 23.
As Fig. 8～shown in Figure 11, depth travel mechanism is included in the fixedly connected hole 23 of vertical slipper 20, connects a rack support plate 26 by one group of screw, and welding one is connected the two gripper shoe 27 on vertical slipper 20 and rack support plate 26 simultaneously.At two parallel guide plate of gear racks 28,28 ' of the positive welding of rack support plate 26, between the guide plate of gear rack 28,28 ', a tooth bar 29 is set, tooth bar 29 front ends are provided with a paw connecting plate 30.On two guide plate of gear racks 28,28 ', a gear fixed head 31,31 ' is set respectively, gear 32 is connected two gear fixed heads 31,31 ' centre by gear shaft 33, gear shaft 33 1 ends link to each other with a gear motor 35 by a gear coupling 34, and gear motor 35 is fixed on the guide plate of gear rack 28 ' by a gear motor fixed head 36.
On paw connecting plate 30 of the present invention, can connect picking fruit paws various in the prior art, because this content is not main points of the present invention, so do not repeat them here.
When the present invention uses, workbench 1 is positioned at operation in the ranks, paw connecting plate 30 is positioned at initial position, horizontal screw lead motor and down-feed screw motor rotate simultaneously, drive horizontal screw lead 7 and down-feed screw 18 rotations by two motors 14,24 that have harmonic speed reducer, and then drive cross sliding clock 9 and vertical slipper 20 motions.The motion of cross sliding clock 9 can make paw connecting plate 30 walk crosswise along workbench 1 and move, and the motion of vertical slipper 20 can make paw connecting plate 30 do the upper and lower motion of vertical table 1.Gear motor 35 rotates by shaft coupling 34 driven gears 32, gear 32 again by and the slip between two guide plate of gear racks 28,28 ' of the tooth bar 29 of its engagement, drive vertical forward and backward move of paw connecting plate 30, and then realize that the present invention delivers to mechanical paw at three dimensions the purpose at fruit place along workbench 1.After paw was taken fruit, three motors reversed simultaneously, make paw get back to initial position, and fruit is placed in the collecting box 37.Gather in the crops next fruit again.
Claims (7)
1, a kind of Cartesian coordinate type fruit picking mechanical arm device is characterized in that: it comprises Working rack, horizontal mobile mechanism, vertical movement mechanism and depth travel mechanism; Described Working rack comprises flat bench and upper bracket, described upper bracket comprises " ∏ " type support that is arranged on described workbench both sides, be provided with a motor support bar and a down-feed screw support bar that has a decelerator at the crossbeam of the described support in both sides middle part, be respectively arranged with the horizontal slideway of a long hole shape at described motor support bar and down-feed screw support bar middle part; Described upper bracket is provided with a horizontal slideway; Described horizontal mobile mechanism comprises one by the horizontal screw lead of horizontal motor by the harmonic speed reducer driving, and one is connected the cross sliding clock that also leads by two horizontal feed rods on the described horizontal screw lead; Described vertical movement mechanism comprises one by the down-feed screw of motor vertical by the harmonic speed reducer drive, one is connected the vertical slipper that also leads by two vertical feed rods on the described down-feed screw, the bottom of described vertical movement mechanism is connected described cross sliding clock top, and the top of described vertical movement mechanism is slidingly installed in the horizontal slideway of described upper bracket; Described depth travel mechanism comprises one by the tooth bar of gear motor by gear driven, and described tooth bar is arranged on the rack support plate, and described rack support plate is fixedly connected on described vertical slipper one side; Described harvesting paw is connected on the paw connecting plate of described tooth bar one end.
2, a kind of Cartesian coordinate type fruit picking mechanical arm device as claimed in claim 1, it is characterized in that: described horizontal mobile mechanism comprises two horizontal screw lead fixed heads and a motor fixing plate that is fixed on the workbench, described horizontal screw lead two ends respectively by bearings on described horizontal screw lead fixed head, the motor-driven harmonic speed reducer of described level is connected on the described motor fixing plate, and connects an external part of described horizontal screw lead by a shaft coupling.
3, a kind of Cartesian coordinate type fruit picking mechanical arm device as claimed in claim 1, it is characterized in that: described vertical movement mechanism comprises two supporting seats that are arranged on described down-feed screw two ends respectively by bearing, the supporting seat of described bottom is fixedly connected on the top of described cross sliding clock, described top braces seat is positioned at the bottom surface of described horizontal slideway, the external part of described down-feed screw connects the harmonic speed reducer of the motor vertical driving that is arranged on described horizontal slip end face by a shaft coupling.
4, a kind of Cartesian coordinate type fruit picking mechanical arm device as claimed in claim 2, it is characterized in that: described vertical movement mechanism comprises two supporting seats that are arranged on described down-feed screw two ends respectively by bearing, the supporting seat of described bottom is fixedly connected on the top of described cross sliding clock, described top braces seat is positioned at the bottom surface of described horizontal slideway, the external part of described down-feed screw connects the harmonic speed reducer of the motor vertical driving that is arranged on described horizontal slip end face by a shaft coupling.
5, as claim 1 or 2 or 3 or 4 described a kind of Cartesian coordinate type fruit picking mechanical arm devices, it is characterized in that: described depth travel mechanism is included in two guide plate of gear racks that are provided with on the described rack support plate, described tooth bar is slidingly arranged between described two guide plate of gear racks, described gear motor is fixed on the described guide plate of gear rack by a gear motor fixed head, described gear is supported on the described two gear fixed heads by gear shaft, and connects described gear motor by a shaft coupling.
6, as claim 1 or 2 or 3 or 4 described a kind of Cartesian coordinate type fruit picking mechanical arm devices, it is characterized in that: a fruit collecting box is set on the described workbench.
7, a kind of Cartesian coordinate type fruit picking mechanical arm device as claimed in claim 5 is characterized in that: a picking fruit collecting box is set on the described workbench.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101768278A CN100513096C (en) | 2007-11-05 | 2007-11-05 | Cartesian coordinate type fruit picking mechanical arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101768278A CN100513096C (en) | 2007-11-05 | 2007-11-05 | Cartesian coordinate type fruit picking mechanical arm device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101142878A CN101142878A (en) | 2008-03-19 |
| CN100513096C true CN100513096C (en) | 2009-07-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007101768278A Expired - Fee Related CN100513096C (en) | 2007-11-05 | 2007-11-05 | Cartesian coordinate type fruit picking mechanical arm device |
Country Status (1)
| Country | Link |
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| CN (1) | CN100513096C (en) |
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| CN102166750B (en) * | 2011-05-16 | 2014-01-29 | 机械科学研究总院先进制造技术研究中心 | Positioning beam and robot linear motion unit with same |
| CN102972152A (en) * | 2011-09-07 | 2013-03-20 | 祁文军 | Mechanical gripper |
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| CN108551864B (en) * | 2018-04-25 | 2023-09-29 | 北京为孜科技有限公司 | Multifunctional fruit picker |
| CN108718690A (en) * | 2018-05-07 | 2018-11-02 | 北京禾泽方圆智能科技有限公司 | A kind of fruit picking robot |
| CN110050587A (en) * | 2019-05-31 | 2019-07-26 | 山东省农业机械科学研究院 | Date palm picking machine mechanical arm |
| CN110301227B (en) * | 2019-07-27 | 2021-11-12 | 广西南亚热带农业科学研究所 | Pineapple leaf reducing mechanism and pineapple leaf rubbing crusher |
| CN112060107B (en) * | 2020-09-16 | 2022-02-11 | 山东大学日照智能制造研究院 | Famous tea picking robot capable of selectively picking tea and method |
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| CN114868525B (en) * | 2022-05-31 | 2023-07-07 | 黄山四月乡村农艺场有限公司 | Soilless culture tomato harvesting equipment |
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| US3921820A (en) * | 1974-03-04 | 1975-11-25 | Alpha Machine & Tool Corp | Picker |
| CN2186984Y (en) * | 1994-03-01 | 1995-01-11 | 胡德辉 | Cotton picker |
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| CN101142878A (en) | 2008-03-19 |
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