CN103858601A - Greenhouse cultivated vegetable harvesting mechanical device - Google Patents

Greenhouse cultivated vegetable harvesting mechanical device Download PDF

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Publication number
CN103858601A
CN103858601A CN201410066737.3A CN201410066737A CN103858601A CN 103858601 A CN103858601 A CN 103858601A CN 201410066737 A CN201410066737 A CN 201410066737A CN 103858601 A CN103858601 A CN 103858601A
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China
Prior art keywords
link
platform
rotation
fixed
wheel
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Granted
Application number
CN201410066737.3A
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Chinese (zh)
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CN103858601B (en
Inventor
楼建忠
沈樟高
沈政
王萌
李兴
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yongchun County Product Quality Inspection Institute (Fujian Incense Product Quality Inspection Center, National Burning Incense Product Quality Supervision and Inspection Center (Fujian))
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Zhejiang Institute of Mechanical and Electrical Engineering Co Ltd
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Priority to CN201410066737.3A priority Critical patent/CN103858601B/en
Publication of CN103858601A publication Critical patent/CN103858601A/en
Application granted granted Critical
Publication of CN103858601B publication Critical patent/CN103858601B/en
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Abstract

The invention discloses a greenhouse cultivated vegetable harvesting mechanical device. At present, greenhouse planted vegetables are manually harvested, the harvested vegetables often come into the market too late due to insufficient manpower, large-scale plantation is unfavorable, labor intensity of harvesting personnel is high, the productivity is low, and human input and production cost are high. The greenhouse cultivated vegetable harvesting mechanical device comprises a driving mechanism, a rotating platform and a harvesting mechanical arm, wherein the rotating platform is arranged on the driving mechanism; the harvesting mechanical arm is connected with the rotating platform. A driving part is driven by two drive motors on the front and back, and advance, retreat and flexible turning can be implemented; the greenhouse cultivated vegetables are automatically picked, the problems of high labor intensity during operation, low productivity and the like are solved, the human input and the production cost are reduced and large-scale plantation is facilitated.

Description

A kind of greenhouse cultivation vegetables mechanical device of gathering
Technical field
The present invention relates to mechanical device field, be specifically related to a kind of roc culturing vegetable mechanical device of gathering.
Background technology
Planting vegetable in greenhouse adopts manual gathering substantially at present, often because causing vegetables to be gathered not, staff has little time listing, be not conducive to organize implant mass to be produced, the personnel labor intensity of simultaneously gathering is large, productivity ratio is low, human input and production cost are high, and manually gather and easily bring damage by disease and insect into greenhouse crops.The gather rotation of mechanical device type of drive, platform and the manipulator of gathering is to need the difficult point that solves, and this drive unit will be applicable to field operation, and platform can rotate as required, and the manipulator crop of gathering smoothly.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of greenhouse cultivation vegetables mechanical device of gathering is provided.
A kind of greenhouse cultivation vegetables mechanical device of gathering, comprises driving mechanism, rotation platform, the manipulator of gathering, and described rotation platform is arranged on driving mechanism, and the manipulator of gathering is connected with rotation platform;
Described driving mechanism comprises: front-wheel drive motor, right front driving wheel, right Timing Belt, off hind wheel, gripper shoe, rear wheel drive motor, the near front wheel, left back driving wheel and left Timing Belt.
Front-wheel drive motor and rear wheel drive motor are separately fixed on the diagonally opposing corner of gripper shoe bottom surface, right front driving wheel is arranged on the output shaft of front-wheel drive motor, left back driving wheel is arranged on the output shaft of rear wheel drive motor, right front driving wheel drives off hind wheel to rotate by right Timing Belt, and left back driving wheel drives the near front wheel to rotate by left Timing Belt; In described gripper shoe, be provided with installing hole;
Described rotation platform comprises: link, link bearing, fixed mount, gear link, platform electric rotating machine, rotation platform, platform rotation driving gear, platform rotation driven gear, supporting seat, link drive motors bearing, link drive motors and link rotation driving gear;
Described link bearing and link drive motors bearing, be fixed on the upper bottom surface of rotation platform, platform electric rotating machine is through rotation platform and be fixed on rotation platform, rotation platform is fixed by supporting seat and platform rotation driven gear, platform rotation driven gear is flexibly connected with the installing hole in gripper shoe, the output of described platform electric rotating machine is provided with platform rotation driving gear, platform rotation driving gear rotates with the platform rotation driven gear driven rotary platform that is connected with a joggle, link drive motors is fixed on link drive motors bearing, the output of link drive motors is provided with link rotation driving gear, link rotation driving gear is connected with a joggle with gear link, gear link is semicircle, described gear link is flexibly connected with link bearing, one end of link is fixed on the diameter limit of gear link, the other end of link is fixedly installed fixed mount,
The described mechanical hand of gathering comprises gripper jaw, gripper jaw fixed head, connecting plate, spring, fixed block, coiling electric motor, coiling piece and coiling,
Described fixed block is fixedly mounted on fixed mount, described coiling electric motor is arranged on one end of fixed block, the other end of fixed block is with an outstanding axle, coiling electric motor output shaft with coiling piece be connected, described fixed block upper bottom surface has two through holes that communicate with side in the both sides of coiling piece, coiling is wrapped on coiling piece, the two ends of coiling are respectively through the through hole on fixed block, and be connected with one end of a connecting plate respectively, described connecting plate is hook type structure, the other end of two connecting plates is connected with one end of a gripper jaw fixed head respectively, gripper jaw fixed head is arranged in a crossed manner, infall is connected by pin with outstanding axle, one end of two springs is fixedly connected with fixed block, the other end is fixedly connected with near one end of gripper jaw fixed head with two connecting plates respectively, on two gripper jaw fixed heads, be respectively equipped with a gripper jaw, described gripper jaw is rubber arc.
Beneficial effect of the present invention: drive part is driven by front and back two drive motors, can realize and advance, retreat and turn flexibly; Greenhouse cultivation vegetables are plucked automatically, have overcome the problems such as operation labour intensity is large, productivity ratio is low, reduce human input and production cost, are conducive to organize implant mass to be produced.
Brief description of the drawings
Fig. 1 is overall construction drawing of the present invention;
Fig. 2 is driving mechanism structure schematic diagram of the present invention;
Fig. 3 is rotating platform structure schematic diagram of the present invention;
Fig. 4 is the manipulator structural representation of gathering of the present invention.
Embodiment
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
As shown in Figure 1, a kind of greenhouse cultivation vegetables mechanical device of gathering, comprises driving mechanism 1, rotation platform 2, the manipulator 3 of gathering, and described rotation platform 2 is arranged on driving mechanism 1, and the manipulator 3 of gathering is connected with rotation platform 2;
As shown in Figure 2, described driving mechanism 1 comprises: front-wheel drive motor 4, right front driving wheel 5, right Timing Belt 6, off hind wheel 7, gripper shoe 8, rear wheel drive motor 9, the near front wheel 10, left back driving wheel 11 and left Timing Belt 12.
Front-wheel drive motor 4 and rear wheel drive motor 9 are separately fixed on the diagonally opposing corner of gripper shoe bottom surface, right front driving wheel 5 is arranged on the output shaft of front-wheel drive motor 4, left back driving wheel 11 is arranged on the output shaft of rear wheel drive motor 9, right front driving wheel 5 drives off hind wheel 7 to rotate by right Timing Belt 6, and left back driving wheel 11 drives the near front wheel 10 to rotate by left Timing Belt 12; In described gripper shoe 8, be provided with installing hole;
As shown in Figure 3, described rotation platform 2 comprises: link 30, link bearing 31, fixed mount 32, gear link 13, platform electric rotating machine 14, rotation platform 15, platform rotation driving gear 16, platform rotation driven gear 17, supporting seat 18, link drive motors bearing 19, link drive motors 20 and link rotation driving gear 21;
Described link bearing 31 and link drive motors bearing 19, be fixed on the upper bottom surface of rotation platform 15, platform electric rotating machine 14 is through rotation platform and be fixed on rotation platform 15, rotation platform is fixing with platform rotation driven gear 17 by supporting seat 18, platform rotation driven gear 17 is flexibly connected with the installing hole in gripper shoe 8, the output of described platform electric rotating machine 14 is provided with platform rotation driving gear 16, platform rotation driving gear 16 rotates with the platform rotation driven gear 17 driven rotary platform 15 that is connected with a joggle, link drive motors 20 is fixed on link drive motors bearing 19, the output of link drive motors 20 is provided with link rotation driving gear 21, link rotation driving gear 21 is connected with a joggle with gear link 13, gear link 13 is semicircle, described gear link 13 is flexibly connected with link bearing 31, one end of link 30 is fixed on the diameter limit of gear link 13, the other end of link is fixedly installed fixed mount 32,
As shown in Figure 4, described in the manipulator 3 of gathering comprise gripper jaw 22, gripper jaw fixed head 23, connecting plate 24, spring 25, fixed block 26, coiling electric motor 27, coiling piece 28 and coiling 29,
Described fixed block is fixedly mounted on fixed mount 32, described coiling electric motor 27 is arranged on one end of fixed block, the other end of fixed block 26 is with an outstanding axle, coiling electric motor 27 output shaft with coiling piece 28 be connected, described fixed block 26 upper bottom surfaces have two through holes that communicate with side in the both sides of coiling piece 28, coiling 29 is wrapped on coiling piece 28, the two ends of coiling 29 are respectively through the through hole on fixed block 26, and be connected with one end of a connecting plate 24 respectively, described connecting plate 24 is hook type structure, the other end of two connecting plates 24 is connected with one end of a gripper jaw fixed head 23 respectively, gripper jaw fixed head 23 is arranged in a crossed manner, infall is connected by pin with outstanding axle, one end of two springs 25 is fixedly connected with fixed block 26, the other end is fixedly connected with near one end of gripper jaw fixed head 23 with two connecting plates respectively, on two gripper jaw fixed heads 23, be respectively equipped with a gripper jaw 22, described gripper jaw is rubber arc.

Claims (2)

1. the greenhouse cultivation vegetables mechanical device of gathering, comprises driving mechanism, rotation platform, the manipulator of gathering, and described rotation platform is arranged on driving mechanism, and the manipulator of gathering is connected with rotation platform;
It is characterized in that: described driving mechanism comprises: front-wheel drive motor, right front driving wheel, right Timing Belt, off hind wheel, gripper shoe, rear wheel drive motor, the near front wheel, left back driving wheel and left Timing Belt;
Front-wheel drive motor and rear wheel drive motor are separately fixed on the diagonally opposing corner of gripper shoe bottom surface, right front driving wheel is arranged on the output shaft of front-wheel drive motor, left back driving wheel is arranged on the output shaft of rear wheel drive motor, right front driving wheel drives off hind wheel to rotate by right Timing Belt, and left back driving wheel drives the near front wheel to rotate by left Timing Belt; In described gripper shoe, be provided with installing hole;
Described rotation platform comprises: link, link bearing, fixed mount, gear link, platform electric rotating machine, rotation platform, platform rotation driving gear, platform rotation driven gear, supporting seat, link drive motors bearing, link drive motors and link rotation driving gear;
Described link bearing and link drive motors bearing, be fixed on the upper bottom surface of rotation platform, platform electric rotating machine is through rotation platform and be fixed on rotation platform, rotation platform is fixed by supporting seat and platform rotation driven gear, platform rotation driven gear is flexibly connected with the installing hole in gripper shoe, the output of described platform electric rotating machine is provided with platform rotation driving gear, platform rotation driving gear rotates with the platform rotation driven gear driven rotary platform that is connected with a joggle, link drive motors is fixed on link drive motors bearing, the output of link drive motors is provided with link rotation driving gear, link rotation driving gear is connected with a joggle with gear link, gear link is semicircle, described gear link is flexibly connected with link bearing, one end of link is fixed on the diameter limit of gear link, the other end of link is fixedly installed fixed mount,
The described mechanical hand of gathering comprises gripper jaw, gripper jaw fixed head, connecting plate, spring, fixed block, coiling electric motor, coiling piece and coiling,
Described fixed block is fixedly mounted on fixed mount, described coiling electric motor is arranged on one end of fixed block, the other end of fixed block is with an outstanding axle, coiling electric motor output shaft with coiling piece be connected, described fixed block upper bottom surface has two through holes that communicate with side in the both sides of coiling piece, coiling is wrapped on coiling piece, the two ends of coiling are respectively through the through hole on fixed block, and be connected with one end of a connecting plate respectively, described connecting plate is hook type structure, the other end of two connecting plates is connected with one end of a gripper jaw fixed head respectively, gripper jaw fixed head is arranged in a crossed manner, infall is connected by pin with outstanding axle, one end of two springs is fixedly connected with fixed block, the other end is fixedly connected with near one end of gripper jaw fixed head with two connecting plates respectively, on two gripper jaw fixed heads, be respectively equipped with a gripper jaw.
2. a kind of greenhouse cultivation vegetables according to claim 1 mechanical device of gathering, is characterized in that: the material of described arc is rubber.
CN201410066737.3A 2014-02-26 2014-02-26 A kind of greenhouse cultivation vegetable is gathered machinery Active CN103858601B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410066737.3A CN103858601B (en) 2014-02-26 2014-02-26 A kind of greenhouse cultivation vegetable is gathered machinery

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410066737.3A CN103858601B (en) 2014-02-26 2014-02-26 A kind of greenhouse cultivation vegetable is gathered machinery

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CN103858601A true CN103858601A (en) 2014-06-18
CN103858601B CN103858601B (en) 2016-06-08

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105123122A (en) * 2015-09-21 2015-12-09 浙江机电职业技术学院 Fruit picking machine
CN105230236A (en) * 2015-09-28 2016-01-13 江苏农林职业技术学院 Orderly harvesting device and method for leaf vegetables based on mechanical arm
CN110050577A (en) * 2019-05-24 2019-07-26 华南农业大学 A kind of hilly and mountainous land cutting type sugarcane combine

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2641158A1 (en) * 1988-12-29 1990-07-06 Lignones Hubert Shaking device for a machine for harvesting berries
JPH08103139A (en) * 1994-10-07 1996-04-23 Kubota Corp Detector for harvesting object of fruit vegetable
JPH08191621A (en) * 1995-01-18 1996-07-30 Iseki & Co Ltd Apparatus for packaging vegetable
CN101367207A (en) * 2008-09-26 2009-02-18 郭长青 Miniature self-service ground robot
CN201711963U (en) * 2010-07-20 2011-01-19 徐州圣尊机器人科技有限公司 Movable mechanical arm platform
JP5120991B1 (en) * 2012-03-28 2013-01-16 秀二郎 乙武 Harvesting hand equipment
CN203761864U (en) * 2014-02-26 2014-08-13 浙江机电职业技术学院 Collecting mechanical device for greenhouse cultivated vegetables

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2641158A1 (en) * 1988-12-29 1990-07-06 Lignones Hubert Shaking device for a machine for harvesting berries
JPH08103139A (en) * 1994-10-07 1996-04-23 Kubota Corp Detector for harvesting object of fruit vegetable
JPH08191621A (en) * 1995-01-18 1996-07-30 Iseki & Co Ltd Apparatus for packaging vegetable
CN101367207A (en) * 2008-09-26 2009-02-18 郭长青 Miniature self-service ground robot
CN201711963U (en) * 2010-07-20 2011-01-19 徐州圣尊机器人科技有限公司 Movable mechanical arm platform
JP5120991B1 (en) * 2012-03-28 2013-01-16 秀二郎 乙武 Harvesting hand equipment
CN203761864U (en) * 2014-02-26 2014-08-13 浙江机电职业技术学院 Collecting mechanical device for greenhouse cultivated vegetables

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105123122A (en) * 2015-09-21 2015-12-09 浙江机电职业技术学院 Fruit picking machine
CN105123122B (en) * 2015-09-21 2017-03-08 浙江机电职业技术学院 Fruit picking
CN105230236A (en) * 2015-09-28 2016-01-13 江苏农林职业技术学院 Orderly harvesting device and method for leaf vegetables based on mechanical arm
CN110050577A (en) * 2019-05-24 2019-07-26 华南农业大学 A kind of hilly and mountainous land cutting type sugarcane combine

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Effective date of registration: 20201223

Address after: 332 Hankou village, Dapu Town, Yongchun County, Quanzhou City, Fujian Province

Patentee after: Lv Lianhai

Address before: No.528 binwen Road, Hangzhou City, Zhejiang Province

Patentee before: ZHEJIANG INSTITUTE OF MECHANICAL & ELECTRICAL ENGINEERING

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Effective date of registration: 20210203

Address after: Liu'an Development Zone, Yongchun County, Quanzhou City, Fujian Province (east side of Taoxi bridge)

Patentee after: Yongchun County Product Quality Inspection Institute (Fujian Incense Product Quality Inspection Center, National Burning Incense Product Quality Supervision and Inspection Center (Fujian))

Address before: 332 Hankou village, Dapu Town, Yongchun County, Quanzhou City, Fujian Province

Patentee before: Lv Lianhai

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