CN101412216B - Universal fruit tree manipulator - Google Patents

Universal fruit tree manipulator Download PDF

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Publication number
CN101412216B
CN101412216B CN2008102270669A CN200810227066A CN101412216B CN 101412216 B CN101412216 B CN 101412216B CN 2008102270669 A CN2008102270669 A CN 2008102270669A CN 200810227066 A CN200810227066 A CN 200810227066A CN 101412216 B CN101412216 B CN 101412216B
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CN
China
Prior art keywords
big
oil cylinder
plate
hinged
worm
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CN2008102270669A
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Chinese (zh)
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CN101412216A (en
Inventor
徐丽明
邵颖慧
张永亮
刘玉仙
王林
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中国农业大学
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Priority to CN2008102270669A priority Critical patent/CN101412216B/en
Publication of CN101412216A publication Critical patent/CN101412216A/en
Application granted granted Critical
Publication of CN101412216B publication Critical patent/CN101412216B/en

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Abstract

The invention relates to a universal mechanical hand for fruit trees, which is characterized by comprising a working vehicle. The working vehicle is provided with a horizontal rotating mechanism driven by an electric motor, the output end of the horizontal rotating mechanism is connected with a horizontal rotating plate, and two sets of vertical lifting mechanisms consisting of extension arms driven by an oil pump are folded and arranged on the horizontal rotating plate; and the output end of the each of the vertical lifting mechanisms is connected with a horizontal extending mechanism which comprises a replaceable mechanical paw. The horizontal rotating mechanism comprises a worm rod and worm wheel mechanism driven by the electric motor, a worm wheel is connected with a gear mechanism, a pinion of the gear mechanism is meshed and connected with a gearwheel, and the end part of the gearwheel is connected with the horizontal rotating plate for supporting the vertical mechanism. The universal mechanical hand can integrate different work requirements of the fruit trees, can replace the mechanical paw at any time, and improve utilization rate of mechanism greatly.

Description

A kind of general fruit tree manipulator
Technical field
The present invention relates to a kind of agricultural machinery, particularly about a kind of suitable fruit tree spray medicine, the Unimate of fruit bagging and harvesting operation.
Background technology
Fruit trees such as apple, pears, peach, oranges and tangerines, operation process comprise plants, applies fertilizer, sprays medicine, fruit bagging, harvesting etc., and these operations are still adopted at present and manually carried out, and have taken a large amount of labours, and the operation of spray medicine also may work the mischief to human body.Along with the transfer of rural laborer to the secondary industry and the tertiary industry, the labour who is engaged in production of fruit trees reduces day by day, with the continuous expansion formation contradiction of fruit demand, therefore is badly in need of the machinery of research and development fruit tree operation, realizes the automation and the industrialization of production of fruit trees.
Domestic and international design about the fruit tree manipulator, mostly be fruit picking machinery hand, fruit picking robots such as apple, oranges and tangerines have been developed as Japan, Korea S, the U.S. etc., principal organ comprises manipulator, end effector, vision sensor and travel mechanism etc., these manipulators are special-purpose, and versatility is relatively poor.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind of passing through and change different paws, can spray the general fruit tree manipulator of medicine, bagging and harvesting operation respectively.
For achieving the above object, the present invention takes following technical scheme: a kind of general fruit tree manipulator, it comprises a work car, described work car is provided with a horizontal rotary mechanism by driven by motor, the output of described horizontal rotary mechanism connects one and horizontally rotates plate, described horizontally rotate to turn back on the plate be provided with the vertical lifting mechanism that cantilever arm that two covers drive by oil pump is formed; The output of described vertical lifting mechanism connects one and stretches out the paw telescopic oil cylinder of mechanism as level, connects a removable mechanical paw on the piston of described paw telescopic oil cylinder.
Described horizontal rotary mechanism comprises a Worm and Worm Gear Driving mechanism and a gear drive, described motor drives worm gear by the worm screw of Worm and Worm Gear Driving mechanism, the pinion of the described gear transmission structure of the coaxial drive of described worm gear is connected the described plate that horizontally rotates with the gear wheel end of described pinion.
Described worm screw is supported by the bracing frame that is fixed on the described work car, described worm-wheel shaft, gear shaft bottom are supported on the described work car by the bearing combination, and described worm-wheel shaft, gear shaft middle part are passed through the intermediate bearing combined support respectively on the bracing frame on the described work car; Described horizontally rotating between plate and the gear wheel is connected with reinforcement.
Described vertical lifting mechanism comprises a big arm restraining board, a big or small arm restraining board, two parallel big arms, two parallel forearms, described two big arm one ends are hinged on the described big arm restraining board, the other end is hinged on the described big or small arm restraining board, described two big arm restraining boards are arranged on described plate one end that horizontally rotates, the described hinged oil cylinder of the other end that horizontally rotates plate, the piston end of described oil cylinder are hinged on described one big arm middle part; The hinged described big or small arm restraining board of described two forearms, one end, the other end connects a terminal connecting plate, and at the hinged oil cylinder in described one big arm middle part, the piston end of described oil cylinder is hinged on the middle part of a described forearm.
Connect by connecting plate between the described two parallel big arms, connect by connecting plate between the described two parallel forearms.
The paw telescopic oil cylinder that described level is stretched out mechanism supports by the two anti-rotation fixed heads that are arranged on the described terminal connecting plate, the pistons end of described oil cylinder connects removable described mechanical paw, also be fixedly connected with an anti-rotation slide bar on described piston, the other end of described slide bar slides and is located on the described two anti-rotation fixed heads.
The present invention is owing to take above technical scheme, and it has the following advantages: 1, the present invention has designed general manipulator according to the resemblance of fruit tree, by changing different paws, can finish operations such as spray medicine, bagging and harvesting.2, the present invention adopts combination of motor-driven worm and gear and gear combination, realizes the angle adjustment of manipulator on the certain level face.3, the present invention adopts two hydraulic pressure support cylinders to drive the big and small arms lifting respectively, makes the end of manipulator can reach desired vertical height, and guarantees that terminal connecting plate connection is in level all the time.4, the present invention is provided with the paw telescopic oil cylinder on the connecting plate endways, and the external part of oil cylinder connects paw, paw can be delivered to the internal depth of fruit tree, and by the rotation that the anti-rotation slide bar prevents oil cylinder is set, guarantee that the paw connecting plate is horizontal all the time.The present invention can integrate different job requirements, has improved mechanical utilization rate greatly.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention
Fig. 2 is the horizontal rotary mechanism enlarged diagram
Fig. 3 is the vertical view of worm and gear group
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 one and move supporting mechanism 1, a horizontal rotary mechanism 2, a vertical lifting mechanism 3, a level and stretch out mechanism 4, the each several part functional entity is interconnected to constitute an integral body.Mobile supporting mechanism 1 is a work car 11, and work car 11 lower margins have roller 12 and can move.Carrying horizontal rotary mechanism 2 above the car 11 and as the Hydraulic Station 31 of vertical lifting mechanism 3 power sources in work.
As Fig. 2, shown in Figure 3, horizontal rotary mechanism 2 comprises worm and gear group and big or small gear train again.Fix a motor 21 on work car 11, motor 21 connects a worm screw 22 by shaft coupling, and worm screw 22 is by being fixed on two worm screw bracing frame 23 rotational support on the work car 11.Worm screw 22 worm gear 24 that is connected with a joggle, worm gear 24 are and are horizontally disposed with, and fixedly connected with a vertical worm-wheel shaft 25 by key at worm gear 24 centers.Worm-wheel shaft 25 lower ends are supported on the table top of work car 11 by bearing combination 26; Fixedly connected with a pinion 27 by key in worm-wheel shaft 25 upper ends.Pinion 27 gear wheel 28 that is connected with a joggle, big pinion all is horizontal positioned.Fixedly connected with a Large Gear Shaft During 29 by key in gear wheel 28 centers, Large Gear Shaft During 29 lower ends are supported on the table top of work car 11 by bearing combination 30; Large Gear Shaft During 29 tops connect one and horizontally rotate plate 32.
For the purpose of firm, in the middle part of worm-wheel shaft 25 and the middle part of Large Gear Shaft During 29 one group of intermediate bearing combination 33,34 is set respectively also, intermediate bearing combination 33,34 is supported by another bracing frame 35 that is fixed on the work car 11; Another bracing frame 35 and worm screw bracing frame 23 also can integral productions.Can also connect 3~4 reinforcements 36 horizontally rotating between plate 32 and the gear wheel 28.
As shown in Figure 1, horizontally rotate plate 32 and be provided with vertical lifting mechanism 3.Vertical lifting mechanism 3 is included in and horizontally rotates the vertically fixing big arm restraining board 37 of plate 32 1 ends, and the other end by two rotating shafts, 38 flexible connections, two big arm 39, two big arms 39 on the big arm restraining board 37 flexibly connects a big forearm connecting plate 41 by two rotating shafts 40 equally.Connect by big arm connecting plate 42 between the two big arms 39, connect the piston end of a big arm support cylinder 43 on the big arm 39 therein, the cylinder body of big arm support cylinder 43 is hinged on the other end that horizontally rotates plate 32, and big arm support cylinder 43 is by Hydraulic Station 31 fuel feeding.On big forearm connecting plate 41, except that connecting two big arms 39, also flexibly connect two forearms 45 by rotating shaft 44, the structure of two forearms 45 and big arm are similar, connect by forearm connecting plate 46 between two forearms 45, connect the piston end of a forearm support cylinder 47 on the forearm 45 therein, the cylinder body of forearm support cylinder 47 is fixed on the big arm 39, and forearm support cylinder 47 is also by Hydraulic Station 31 fuel feeding.The other end of two forearms 45 flexibly connects a terminal connecting plate 49 by two rotating shafts 48, and the connection level is stretched out mechanism 4 on the terminal connecting plate 49.
Level is stretched out mechanism 4 and is included in a paw telescopic oil cylinder 50 of fixing by two anti-rotation fixed heads 53 on the terminal connecting plate 49, and paw telescopic oil cylinder 50 is also by Hydraulic Station 31 fuel feeding.The piston nose of paw telescopic oil cylinder 50 connects removable mechanical paw 52 by steady pin 51, and paw 52 can change.For preventing the rotation of piston end, sliding on anti-rotation fixed head 53 wears an end of an anti-rotation slide bar 54, and the other end of slide bar 54 is fixedly connected on the piston of paw telescopic oil cylinder 50, so can prevent piston rotation.
When the present invention works, at first mobile working car 11 maintains static behind certain position, and motor 21 starts then, drives worm screw 22 and worm gear 24 motions, and then drive pinion 27, gear wheel 28, Large Gear Shaft During 29 and horizontally rotate plate 32 and rotates thereupon, make the paw 52 aligning fruit trees of upper end.Then, Hydraulic Station 31 operations drive big arm support cylinder 43 and forearm support cylinder 47 and reach suitable position, make big arm 39 and forearm 45 drive the height that paw is elevated to requirement, and guarantee that paw telescopic oil cylinder 50 is in level all the time.Big and small arms stops action after promoting and putting in place, and Hydraulic Station 31 then drives telescopic oil cylinder 50 again and stretches out, and drives paw 52 arrival appointed positions and carries out operation.What motor 21 drove here rotatablely moves, and stretches out motion with elevating movement and level that Hydraulic Station 31 drives, can carry out synchronously, and co-ordination is risen in the time of i.e. rotation and stretched out, and increases work efficiency.Operation finishes, and Hydraulic Station 31 motion makes three oil cylinders, 43,47,50 returns, and motor 21 rotates again, carries out the operation of the next position, repeats above action, all finishes until the operation that with the car of working is many strains fruit tree at center, mobile working car adjourn more again.Paw 52 is removable, when spraying the medicine operation, uses spray medicine paw; When plucking operation, use and pluck paw, realize the purpose of a tractor serves several purposes.

Claims (7)

1. general fruit tree manipulator, it is characterized in that: it comprises a work car, described work car is provided with a horizontal rotary mechanism by driven by motor, described horizontal rotary mechanism comprises a Worm and Worm Gear Driving mechanism and a gear drive, described motor drives worm gear by the worm screw of described Worm and Worm Gear Driving mechanism, the pinion of the described gear drive of the coaxial drive of described worm gear, be connected one with the gear wheel end of described pinion and horizontally rotate plate, described horizontally rotate to turn back on the plate be provided with the vertical lifting mechanism that cantilever arm that two covers drive by oil pump is formed; The output of described vertical lifting mechanism connects one and stretches out the paw telescopic oil cylinder of mechanism as level, connects a removable mechanical paw on the piston of described paw telescopic oil cylinder.
2. a kind of general fruit tree manipulator as claimed in claim 1, it is characterized in that: described worm screw is supported by the bracing frame that is fixed on the described work car, worm-wheel shaft, gear shaft bottom are supported on the described work car by the bearing combination, and described worm-wheel shaft, gear shaft middle part are passed through the intermediate bearing combined support respectively on the bracing frame on the described work car; Described horizontally rotating between plate and the described gear wheel is connected with reinforcement.
3. a kind of general fruit tree manipulator as claimed in claim 1, it is characterized in that: described vertical lifting mechanism comprises a big arm restraining board, a big or small arm restraining board, two parallel big arms, two parallel forearms, described two big arm one ends are hinged on the described big arm restraining board, the other end is hinged on the described big or small arm restraining board, described big arm restraining board is arranged on described plate one end that horizontally rotates, described hinged one first oil cylinder of the other end that horizontally rotates plate, the piston end of described first oil cylinder are hinged on a wherein described big arm middle part; The hinged described big or small arm restraining board of described two forearms, one end, the other end connects a terminal connecting plate, and at another hinged one second oil cylinder in described big arm middle part, the piston end of described second oil cylinder is hinged on the middle part of a described forearm.
4. a kind of general fruit tree manipulator as claimed in claim 2, it is characterized in that: described vertical lifting mechanism comprises a big arm restraining board, a big or small arm restraining board, two parallel big arms, two parallel forearms, described two big arm one ends are hinged on the described big arm restraining board, the other end is hinged on the described big or small arm restraining board, described big arm restraining board is arranged on described plate one end that horizontally rotates, described hinged one first oil cylinder of the other end that horizontally rotates plate, the piston end of described first oil cylinder are hinged on a wherein described big arm middle part; The hinged described big or small arm restraining board of described two forearms, one end, the other end connects a terminal connecting plate, and at another hinged one second oil cylinder in described big arm middle part, the piston end of described second oil cylinder is hinged on the middle part of a described forearm.
5. as claim 3 or 4 described a kind of general fruit tree manipulators, it is characterized in that: connect by connecting plate between the described two parallel big arms, connect by connecting plate between the described two parallel forearms.
6. as claim 3 or 4 described a kind of general fruit tree manipulators, it is characterized in that: the paw telescopic oil cylinder that described level is stretched out mechanism supports by the two anti-rotation fixed heads that are arranged on the described terminal connecting plate, the pistons end of described paw telescopic oil cylinder connects removable described mechanical paw, also be fixedly connected with an anti-rotation slide bar on the piston of described paw telescopic oil cylinder, the other end of described slide bar slides and is located on the described two anti-rotation fixed heads.
7. a kind of general fruit tree manipulator as claimed in claim 5, it is characterized in that: the paw telescopic oil cylinder that described level is stretched out mechanism supports by the two anti-rotation fixed heads that are arranged on the described terminal connecting plate, the pistons end of described paw telescopic oil cylinder connects removable described mechanical paw, also be fixedly connected with an anti-rotation slide bar on the piston of described paw telescopic oil cylinder, the other end of described slide bar slides and is located on the described two anti-rotation fixed heads.
CN2008102270669A 2008-11-20 2008-11-20 Universal fruit tree manipulator CN101412216B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN2008102270669A CN101412216B (en) 2008-11-20 2008-11-20 Universal fruit tree manipulator

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CN101412216A CN101412216A (en) 2009-04-22
CN101412216B true CN101412216B (en) 2010-09-29

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Cited By (1)

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CN102907216A (en) * 2012-11-13 2013-02-06 葛立 Intelligent fruit picking vehicle utilizing solar energy and oil hybrid power

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US8746589B2 (en) * 2011-09-09 2014-06-10 Deere & Company Boom assembly joints
CN102350693A (en) * 2011-10-06 2012-02-15 郭庆省 Egg hunting robot
CN103053275A (en) * 2011-10-18 2013-04-24 汪洪波 Fruit automatic picking machine
CN102396326B (en) * 2011-11-23 2013-06-05 浙江工业大学 Mechanical arm of Chinese walnut picking robot
CN102696573A (en) * 2012-07-03 2012-10-03 新疆农垦科学院 Multifunctional working machine for orchard
CN103817686A (en) * 2012-11-19 2014-05-28 青岛理工大学琴岛学院 Manipulator for disaster rescue robot
CN104649204B (en) * 2015-02-04 2017-03-29 新疆农业科学院农业机械化研究所 Suspended type multi-function job platform
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CN105773593A (en) * 2016-05-17 2016-07-20 河南宇建科技股份有限公司 Novel multifunctional manipulator for agriculture and forestry
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CN105881489A (en) * 2016-05-24 2016-08-24 范志豪 Multifunctional carrying device
CN106234337A (en) * 2016-07-19 2016-12-21 柳州六品科技有限公司 A kind of agricultural automatic medicine sprayer of high atomization
CN106172341A (en) * 2016-07-19 2016-12-07 柳州六品科技有限公司 A kind of agricultural automatic medicine spraying device of lift
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CN106489430A (en) * 2016-11-21 2017-03-15 镇江市胜得机械制造有限责任公司 A kind of mechanical arm for automatic fruit picker
CN108401681B (en) * 2018-03-09 2020-09-08 重庆大学 Auxiliary artificial fruit picking device
CN109588391A (en) * 2018-11-26 2019-04-09 盐城吉大智能终端产业研究院有限公司 A kind of insect pest intelligent detection device

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