CN105474876A - Miniature electric four-arm four-wheel corn harvesting robot - Google Patents
Miniature electric four-arm four-wheel corn harvesting robot Download PDFInfo
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- CN105474876A CN105474876A CN201510986067.1A CN201510986067A CN105474876A CN 105474876 A CN105474876 A CN 105474876A CN 201510986067 A CN201510986067 A CN 201510986067A CN 105474876 A CN105474876 A CN 105474876A
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- arm
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- cutting
- corn
- miniature electric
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/02—Harvesting of standing crops of maize, i.e. kernel harvesting
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a miniature electric four-arm four-wheel corn harvesting robot. The miniature electric four-arm four-wheel corn harvesting robot comprises a square base, a power supply device, two fixed cutting arms and at least one extensible cutting arm, wherein the power supply device and the two fixed cutting arms are located above the square base, the two fixed cutting arms and one extensible cutting arm which are driven by using a lead storage battery as the power supply device are arranged on the robot, the two fixed cutting arms are arranged towards the rear side in the motion direction of the robot inclining at the included angle of 100-180 degrees, accordingly extension of the cutting arms is achieved, and finally the defect that a corn straw cutting range cannot be adjusted within a small range is overcome. The corn straw cutting flexibility and adjustable performance are improved, and the miniature electric four-arm four-wheel corn harvesting robot has better user-friendly performance. The miniature electric four-arm four-wheel corn harvesting robot has better flexible adjusting performance and field adapting performance, accordingly the harvesting efficiency of the corn harvesting robot is improved, and automatic corn cutting is achieved.
Description
Technical field
The present invention relates to reaping corn and robotics, particularly relate to miniature electric corn four arm four-wheel harvesting robotic.
Background technology
After agricultural mechanization originates in capitalism's intrusion agricultural, its development usually experienced by three phases in European and American countries: the 1. semi-mechanization stage.In the middle of the 19th century to last years of a century substantially.Feature is the simple agricultural machinery widely using animal-drawn in agricultural production.2. the basic mechanization stage.To the 1950's substantially in 20 beginnings of the century.Feature is the agricultural machinery that the key operation of chief crop generally adopts tractor-drawn.3. comprehensive mechanization (or claiming high mechanization) stage.About start from after the 1950's.Feature is agriculture, woods, herd, on the links of each industry of fishing, and antenatal and postpartum department, use more advanced farming machine all widely.Since the eighties in 20th century, due to increasing of the application in agricultural such as electronic computer, agricultural mechanization is to automation development.The countries and regions of the third world, just after World War II, are just bringing into use farming machine in varying degrees.But restrict by factors such as politics, economy and technology, the Mechanization Level of majority state (area) is also lower so far.
Along with the development of agricultural mechanization industry, its status in China's agricultural production is more and more important, and more and more obtains the favor of people.In general, agricultural mechanization, refers to and uses advanced and applicable talents for agri-mechanization agricultural, improve Agriculture production and management condition, improves constantly the process of the production technology level of agricultural and economic benefit, ecological benefits.In agriculture all departments, use various machinery to replace hand tools to produce to greatest extent.One of substance of agricultural modernization.As in plant husbandry, tractor, sower, grain header, power irrigation and drainage machine, motor vehicles etc. are used to carry out every operations such as ploughing soil, sowing, harvesting, irrigation, field management, transport, make whole production process mainly rely on machine power and electric power, instead of rely on manpower, animal power.Realize the mechanization of farm work, can labour be saved, reduce labor intensity, improve farm labor efficiency, strengthen the ability overcoming natural calamity.
Although there is now various agricultural machinery, but still also have a lot of not enough, the development of such as knob and mountain region farming receives the restriction in its geographical position, large-scale grain header, sower, soil preparation machine etc. are difficult to directly to enter farmland and construct, still need artificial manpower to work, so its productivity is still very low, the labour intensity of peasant is still heavy, other productive lifes more cannot be obtained, and culture life.Especially, during hand harvest's corn, its intensity is comparatively large, and during harvesting corn, corn dead leaf can produce the swing of certain amplitude, and then hurts face and staff.And still need during harvesting corn to be exposed to the sun, also larger to somatic damage.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art; the invention provides miniature electric corn four arm four-wheel harvesting robotic; its object is to provide a kind of unmanned electric corn harvester; without the need to manual operation; maize straw cutting is realized to fall down to the ground; and then helping peasant to alleviate the labour intensity of a part of harvesting corn, when reducing harvesting corn, corn dead leaf is to the injury of face and hand simultaneously, and then protects the healthy of peasant.
The technical solution adopted in the present invention is: miniature electric corn four arm four-wheel harvesting robotic, comprise the base that entirety is square, with the supply unit be positioned at above base and two fixing cutting arms, at least one scalable cutting arm, and be positioned at the universal head below base;
Be provided with U-type groove in the middle part of base, the base being positioned at the front-end and back-end of U-type groove is respectively equipped with two wheels, one of them wheel sub-connection supply unit and driving force is provided;
Base comprises front connecting portion and rear connecting portion, and the front end of front connecting portion is provided with a main Electric Motor Wheel, and main Electric Motor Wheel connects supply unit, and rear connecting portion is provided with two auxiliary wheels;
Universal head connects supply unit and obtains power, and the upper of base is also provided with inductor, and inductor is connected with universal head, and supply unit is lead accumulator;
Each fixing cutting arm and scalable cutting arm include vertical regulating arm and horizontal mounting arm, and the end of horizontal mounting arm is provided with transverse cuts cutter, and vertical regulating arm is fixed on base by the cylindrical fixed disk power socket be connected on base; Horizontal mounting arm is hinged on vertical regulating arm tip position; An inclination gag lever post is jointly connected with respectively by articulated structure between vertical regulating arm and horizontal mounting arm;
Power socket is enclosed within outside supply unit, and supply unit is respectively equipped with the connecting hole with base along the direction of travel of grain header and its side direction, and connecting hole is fixedly attached to position corresponding to base by a connecting axle; Cylindrical fixed disk power socket is enclosed within outside supply unit;
Wherein two fixing cutting arms put extension respectively to the left side side of robot and right lateral aspect; And the angle between two fixing cutting arms is between Du-Du; Scalable cutting arm is arranged near main Electric Motor Wheel;
Each transverse cuts cutter comprises the left transverse cutting blade and right transverse cutting blade that blade is oppositely arranged;
Each horizontal mounting arm comprises left connecting portion, power support arm and right connecting portion, power source is provided with in power support arm, right connecting portion connects left transverse cutting blade and right transverse cutting blade respectively by the torque arm of two, left and right, each torque arm is connected on power source and obtains power, and torque arm is stretched thus driven left transverse cutting blade and right transverse cutting blade folding cutting corn;
The power source output of the horizontal mounting arm of each scalable cutting arm is also connected with support arm telescopic shaft and extension sleeve in turn, and extension sleeve is connected to one end of right connecting portion.Reaping corn machine people of the present invention, adopt tip at plinth supply unit and two fixing cutting arms, at least one scalable cutting arm, and placement lead accumulator drives two fixing cutting arms and a scalable cutting arm as supply unit thereon, and by two fixing cutting arms according to angle be 100-180 degree inclination robot the direction of motion on rear side of arrange, be convenient to robot and cut off stalk in motion process, the vertical regulating arm of each fixing cutting arm and horizontal mounting arm, transverse cuts cutter, another scalable cutting arm is connected on power socket equally, the power source output of its horizontal mounting arm is also connected with support arm telescopic shaft and extension sleeve in turn, extension sleeve is connected to one end of right connecting portion, thus realize stretching to cutting arm, finally achieve among a small circle flexibility and performance-adjustable that the defect that cannot adjust cutting maize straw scope expands maize straw cutting, there is good user friendly performance.It cuts maize straw, thus further enhancing the efficiency of this reaping corn machine people cutting and adapt to the performance in place, the left transverse cutting blade of final driving transverse cuts cutter and right transverse cutting blade open and close movement, thus make robot move in a corn trade cutting corn time, the maize straw cutting on another trade can be taken into account simultaneously, and can adjust flexibly, adapt to place, thus improve the harvesting efficiency of reaping corn machine people, and realize the surface trimming of corn.
Further improvement of the present invention is, each vertical regulating arm is telescopic sleeve, and it comprises the telescopic shaft be connected to above supply unit, and is enclosed within the sleeve on expansion link, and the tip position of sleeve is provided with U-shaped otch; The left connecting portion of horizontal mounting arm is placed in U-shaped otch.Thus be convenient to adjust horizontal mounting arm elongation height, reach the object of adjusting corn stalk cutting-height, thus meet the Different treatments of peasant to maize straw, or turn over bury or be retained as his use.
Further improvement of the present invention is, the left connecting portion of each horizontal mounting arm is fixed in U-shaped otch by securing member and rotates.And then for convenience detach and fixing cutting arm of maintenance, because vertical regulating arm and horizontal mounting arm are crucial activation part, daily easy damage, use securing member connects, damage parts can be changed easily, without the need to integral replacing, save use cost for the later stage uses.
Further improvement of the present invention is, power source is motor or cylinder, and its quantity is one or two, make two torque arm be connected to two exits of power source, or each power source drives a torque arm campaign.Needs according to power source are selected, convenient and practical.
Further improvement of the present invention is, each torque arm is extension spring, and structure is simple, and it is convenient to change, and has higher resistance to serviceability.
Further improvement of the present invention is, each auxiliary wheel is connected to the rear connecting portion of base end wheel described in each by a support be connected directly between the bottom of base foremost or rearmost end, thus simplified the overall structure of this harvesting robotic, thus save the consumption of the energy, and finally ensure that this robot can operate efficiently.
Further improvement of the present invention is, the bottom of universal head is also provided with at least two universal wheels, and universal wheel is connected with supply unit and obtains power source and action order.
Further improvement of the present invention is, the left transverse cutting blade of each transverse cuts cutter and right transverse cutting blade is respectively arranged with some sawtooth unit, enhances the adaptation intensity of blade, and durability, ensures that it has longer service life.
Further improvement of the present invention is, every a pair left transverse cutting blade and right transverse cutting blade are fixed on the end of horizontal mounting arm by upper compressing tablet and lower sheeting, bearing pin.
Compared with prior art, the invention has the beneficial effects as follows: reaping corn machine people of the present invention, adopt tip at plinth supply unit and two fixing cutting arms, at least one scalable cutting arm, and placement lead accumulator drives two fixing cutting arms and a scalable cutting arm as supply unit thereon, and by two fixing cutting arms according to angle be 100-180 degree inclination robot the direction of motion on rear side of arrange, be convenient to robot and cut off stalk in motion process, the vertical regulating arm of each fixing cutting arm and horizontal mounting arm, transverse cuts cutter, another scalable cutting arm is connected on power socket equally, the power source output of its horizontal mounting arm is also connected with support arm telescopic shaft and extension sleeve in turn, extension sleeve is connected to one end of right connecting portion, thus realize stretching to cutting arm, finally achieve among a small circle flexibility and performance-adjustable that the defect that cannot adjust cutting maize straw scope expands maize straw cutting, there is good user friendly performance.It cuts maize straw, thus further enhancing the efficiency of this reaping corn machine people cutting and adapt to the performance in place, the left transverse cutting blade of final driving transverse cuts cutter and right transverse cutting blade open and close movement, thus make robot move in a corn trade cutting corn time, the maize straw cutting on another trade can be taken into account simultaneously, and can adjust flexibly, adapt to place, thus improve the harvesting efficiency of reaping corn machine people, and realize the surface trimming of corn.
The invention provides a kind of unmanned electric corn harvester of Double Directional Cutting maize straw; its structure and simple to operate, without the need to manual operation; achieve and efficiently rapidly maize straw cutting is fallen down to the ground; and then helped peasant to alleviate the labour intensity of a part of harvesting corn; when decreasing harvesting corn, corn dead leaf is to the injury of face and hand simultaneously; and then protect the healthy of peasant, there is the higher value applied.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure schematic diagram of an angle of an embodiment of miniature electric corn four arm four-wheel harvesting robotic;
Fig. 2 is the three-dimensional structure schematic diagram of another angle of the embodiment of Fig. 1;
Fig. 3 is the three-dimensional structure schematic diagram of the bottom of the embodiment of Fig. 1;
Wherein: 1-base, connecting portion before 101-, connecting portion after 102-, the main Electric Motor Wheel of 2-, 3-supply unit, 31-connecting hole, the vertical regulating arm of 4-, 41-telescopic shaft, 42-sleeve, 421-U type otch, 5-horizontal mounting arm, the left connecting portion of 51-, 52-power support arm, the right connecting portion of 53-, 54-power source, 6-lower sheeting, 7-transverse cuts cutter, the left transverse cutting blade of 71-, the right transverse cutting blade of 72-, 73-sawtooth unit, 8-connecting axle, 9-bearing pin, the upper compressing tablet of 10-, 11-securing member, the scalable cutting arm of 12-, 121-support arm telescopic shaft, 122-extension sleeve, 13-universal head, 131-universal wheel, 14-fixes cutting arm, 15-inductor, 16-inclination gag lever post, 17-torque arm, 18-power socket.
Embodiment
In order to deepen the understanding of the present invention, below in conjunction with drawings and Examples, the present invention is further described, and this embodiment, only for explaining the present invention, not forming protection scope of the present invention and limiting.
As shown in figures 1 and 3, miniature electric corn four arm four-wheel harvesting robotic, comprise the base 1 that entirety is square, and the supply unit 3 be positioned at above base and two fixing cutting arms 14, at least one scalable cutting arm 12, and be positioned at the universal head 13 below base 1;
Be provided with U-type groove 101 in the middle part of base 1, the base being positioned at the front-end and back-end of U-type groove 101 is respectively equipped with two wheels 2, and one of them wheel 2 connects supply unit 3 and provides driving force;
Base 1 comprises front connecting portion 101 and rear connecting portion 102, and the front end of front connecting portion 101 is provided with a main Electric Motor Wheel 2, and main Electric Motor Wheel 2 connects supply unit 3, and rear connecting portion 102 is provided with two auxiliary wheels 12;
Universal head 13 connects supply unit 3 and obtains power, and the upper of base 1 is also provided with inductor 15, and inductor 15 is connected with universal head 13, and supply unit is lead accumulator;
Each fixing cutting arm 14 and scalable cutting arm 12 include vertical regulating arm 4 and horizontal mounting arm 5, and the end of horizontal mounting arm 5 is provided with transverse cuts cutter 7, and vertical regulating arm 4 is fixed on base 1 by the cylindrical fixed disk power socket 18 be connected on base 1; Horizontal mounting arm 5 is hinged on vertical regulating arm 4 tip position; An inclination gag lever post 16 is jointly connected with respectively by articulated structure between vertical regulating arm 4 and horizontal mounting arm 5;
Power socket 12 is enclosed within outside supply unit 3, and supply unit 3 is respectively equipped with the connecting hole 31 with base along the direction of travel of grain header and its side direction, and connecting hole 31 is fixedly attached to the position of base 1 correspondence by a connecting axle 8; Cylindrical fixed disk power socket 18 is enclosed within outside supply unit 3;
Wherein two fixing cutting arms 14 put extension respectively to the left side side of robot and right lateral aspect; And the angle between two fixing cutting arms 14 is between 100 degree of-180 degree; Scalable cutting arm 12 is arranged near main Electric Motor Wheel 2;
Each transverse cuts cutter 7 comprises the left transverse cutting blade 71 and right transverse cutting blade 72 that blade is oppositely arranged;
Each horizontal mounting arm 5 comprises left connecting portion 51, power support arm 52 and right connecting portion 53, power source 54 is provided with in power support arm 52, right connecting portion 53 connects left transverse cutting blade 71 and right transverse cutting blade 72 respectively by the torque arm 17 of two, left and right, each torque arm 17 is connected on power source 54 and obtains power, and torque arm 17 is stretched thus driven left transverse cutting blade 71 and right transverse cutting blade 72 folding cutting corn;
Power source 54 output of the horizontal mounting arm 5 of each scalable cutting arm 12 is also connected with support arm telescopic shaft 121 and extension sleeve 122 in turn, and extension sleeve 122 is connected to one end of right connecting portion 53.
Reaping corn machine people of the present invention, at plinth supply unit 3 and two fixing cutting arms 14, at least one scalable cutting arm 12, and the universal head 13 be positioned at below base 1, and by two fixing cutting arms according to angle be 100-180 degree inclination robot the direction of motion on rear side of arrange, be convenient to robot and cut off stalk in motion process, the vertical regulating arm of each fixing cutting arm and horizontal mounting arm, transverse cuts cutter, another scalable cutting arm is connected on power socket equally, power source 54 output of its horizontal mounting arm 5 is also connected with support arm telescopic shaft 121 and extension sleeve 122 in turn, extension sleeve 122 is connected to one end of right connecting portion 53, thus realize stretching to cutting arm, finally achieve among a small circle flexibility and performance-adjustable that the defect that cannot adjust cutting maize straw scope expands maize straw cutting, there is good user friendly performance.It cuts maize straw, thus further enhancing the efficiency of this reaping corn machine people cutting and adapt to the performance in place, the left transverse cutting blade of final driving transverse cuts cutter and right transverse cutting blade open and close movement, thus make robot move in a corn trade cutting corn time, the maize straw cutting on another trade can be taken into account simultaneously, and can adjust flexibly, adapt to place, thus improve the harvesting efficiency of reaping corn machine people, and realize the surface trimming of corn.
In the above-described embodiments, each vertical regulating arm 4 is telescopic sleeve, and it comprises the telescopic shaft 41 be connected to above supply unit 3, and is enclosed within the sleeve 42 on expansion link 41, and the tip position of sleeve 42 is provided with U-shaped otch 421; The left connecting portion 51 of horizontal mounting arm 5 is placed in U-shaped otch 421.Thus be convenient to adjust horizontal mounting arm elongation height, reach the object of adjusting corn stalk cutting-height, thus meet the Different treatments of peasant to maize straw, or turn over bury or be retained as his use.
In the above-described embodiments, the left connecting portion 51 of each horizontal mounting arm 5 is fixed in U-shaped otch 421 by securing member 11 and rotates.And then for convenience detach and safeguard cutting arm, because vertical regulating arm and horizontal mounting arm are crucial activation part, daily easy damage, use securing member connects, damage parts can be changed easily, without the need to integral replacing, save use cost for the later stage uses.
In the above-described embodiments, power source 54 is motor or cylinder, and its quantity is one or two, make two torque arm 17 be connected to two exits of power source 54, or each power source 54 drives a torque arm 17 to move.Needs according to power source are selected, convenient and practical.
In the above-described embodiments, each torque arm 17 is extension spring, and structure is simple, and it is convenient to change, and has higher resistance to serviceability.
In the above-described embodiments, wheel 2 described in each be connected directly between the bottom of base 1 foremost or rearmost end, thus simplified the overall structure of this harvesting robotic, thus save the consumption of the energy, and finally ensure that this robot can operate efficiently.
See Fig. 2, the bottom of universal head 13 is also provided with at least two universal wheels 131, and universal wheel 131 is connected with supply unit 3 and obtains power source and action order.
In the above-described embodiments, the left transverse cutting blade 71 of each transverse cuts cutter 7 and right transverse cutting blade 72 are respectively arranged with some sawtooth unit 73, enhance the adaptation intensity of blade, and durability, ensure that it has longer service life.
In the above-described embodiments, every a pair left transverse cutting blade 71 and right transverse cutting blade 72 are fixed on the end of horizontal mounting arm 5 by upper compressing tablet 10 and lower sheeting 6, bearing pin 9.
In the above-described embodiments, see Fig. 1 and Fig. 2, fixing cutting arm 14 and the horizontal mounting arm 5 of scalable cutting arm 12 and the length of vertical support arm 4 and highly can each arrange different.
The invention provides a kind of unmanned electric corn harvester of Double Directional Cutting maize straw; its structure and simple to operate, without the need to manual operation; achieve and efficiently rapidly maize straw cutting is fallen down to the ground; and then helped peasant to alleviate the labour intensity of a part of harvesting corn; when decreasing harvesting corn, corn dead leaf is to the injury of face and hand simultaneously; and then protect the healthy of peasant, and there is place adaptive capacity comparatively flexibly, and there is the higher value applied.
What embodiments of the invention were announced is preferred embodiment, but is not limited thereto, those of ordinary skill in the art; very easily according to above-described embodiment, understand spirit of the present invention, and make different amplifications and change; but only otherwise depart from spirit of the present invention, all in protection scope of the present invention.
Claims (9)
1. miniature electric corn four arm four-wheel harvesting robotic, it is characterized in that: comprise the base (1) that entirety is square, with the supply unit be positioned at above base (3) and two fixing cutting arms (14), at least one scalable cutting arm (12), and be positioned at the universal head (13) of base (1) below;
Described base (1) middle part is provided with U-type groove (101), and the base being positioned at the front-end and back-end of described U-type groove (101) is respectively equipped with two wheels (2), one of them wheel (2) connection supply unit (3) and provide driving force;
Described universal head (13) connects supply unit (3) and obtains power, and the upper of described base (1) is also provided with inductor (15), and described inductor (15) is connected with universal head (13), and described supply unit is lead accumulator;
Cutting arm (14) is fixed and scalable cutting arm (12) includes vertical regulating arm (4) and horizontal mounting arm (5) described in each, the end of described horizontal mounting arm (5) is provided with transverse cuts cutter (7), and described vertical regulating arm (4) is fixed on base (1) by the power socket (18) be connected on base (1); Described horizontal mounting arm (5) is hinged on vertical regulating arm (4) tip position; An inclination gag lever post (16) is jointly connected with respectively by articulated structure between described vertical regulating arm (4) and horizontal mounting arm (5);
Described power socket (12) is enclosed within supply unit (3) outside, and described supply unit (3) is respectively equipped with and the connecting hole of base (31) along the direction of travel of grain header and its side direction, and described connecting hole (31) is fixedly attached to position corresponding to base (1) by a connecting axle (8); Power socket wherein two described fixing cutting arms (14) puts extension respectively to the left side side of robot and right lateral aspect; And the angle between two described fixing cutting arms (14) is between 100 degree of-180 degree; Described scalable cutting arm (12) is arranged near main Electric Motor Wheel (2);
Transverse cuts cutter (7) described in each comprises the left transverse cutting blade (71) and right transverse cutting blade (72) that blade is oppositely arranged;
Horizontal mounting arm described in each (5) comprises left connecting portion (51), power support arm (52) and right connecting portion (53), power source (54) is provided with in described power support arm (52), described right connecting portion (53) connects left transverse cutting blade (71) and right transverse cutting blade (72) respectively by two, left and right torque arm (17), torque arm described in each (17) is connected on power source (54) and obtains power, and described torque arm (17) is stretched thus driven left transverse cutting blade (71) and right transverse cutting blade (72) folding cutting corn;
Power source (54) output of the horizontal mounting arm (5) of scalable cutting arm (12) described in each is also connected with support arm telescopic shaft (121) and extension sleeve (122) in turn, and described extension sleeve (122) is connected to one end of right connecting portion (53).
2. miniature electric corn four arm four-wheel harvesting robotic according to claim 1, it is characterized in that: described in each, vertical regulating arm (4) is telescopic sleeve, it comprises the telescopic shaft (41) being connected to supply unit (3) top, and the sleeve (42) be enclosed within expansion link (41), the tip position of described sleeve (42) is provided with U-shaped otch (421); The left connecting portion (51) of described horizontal mounting arm (5) is placed in U-shaped otch (421).
3. miniature electric corn four arm four-wheel harvesting robotic according to claim 2, is characterized in that: the left connecting portion (51) of horizontal mounting arm described in each (5) is fixed in U-shaped otch (421) by securing member (11) and rotates.
4. miniature electric corn four arm four-wheel harvesting robotic according to claim 1, it is characterized in that: described power source (54) is motor or cylinder, and its quantity is one or two, make two torque arm (17) be connected to two exits of power source (54), or each power source (54) drive torque arm (17) motion.
5. the miniature electric corn four arm four-wheel harvesting robotic according to claim 1 or 4, is characterized in that: torque arm described in each (17) is extension spring.
6. miniature electric corn four arm four-wheel harvesting robotic according to claim 1, is characterized in that: wheel described in each (2) be connected directly between the bottom of base (1) foremost or rearmost end.
7. miniature electric corn four arm four-wheel harvesting robotic according to claim 1, it is characterized in that: the bottom of described universal head (13) is also provided with at least two universal wheels (131), described universal wheel (131) is connected with supply unit (3) and obtains power source and action order.
8. miniature electric corn four arm four-wheel harvesting robotic according to claim 1, is characterized in that: the left transverse cutting blade (71) of transverse cuts cutter (7) described in each and right transverse cutting blade (72) are respectively arranged with some sawtooth unit (73).
9. miniature electric corn four arm four-wheel harvesting robotic according to claim 8, is characterized in that:
Left transverse cutting blade (71) described in every a pair and right transverse cutting blade (72) are fixed on the end of horizontal mounting arm (5) by upper compressing tablet (10) and lower sheeting (6), bearing pin (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510986067.1A CN105474876A (en) | 2015-12-25 | 2015-12-25 | Miniature electric four-arm four-wheel corn harvesting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510986067.1A CN105474876A (en) | 2015-12-25 | 2015-12-25 | Miniature electric four-arm four-wheel corn harvesting robot |
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| CN105474876A true CN105474876A (en) | 2016-04-13 |
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| CN201510986067.1A Pending CN105474876A (en) | 2015-12-25 | 2015-12-25 | Miniature electric four-arm four-wheel corn harvesting robot |
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|---|---|---|---|---|
| JP2008206438A (en) * | 2007-02-26 | 2008-09-11 | Iseki & Co Ltd | Fruit harvesting robot |
| WO2011031490A2 (en) * | 2009-08-25 | 2011-03-17 | Francis Wilson Moore | Fruit tree pruner and harvesting machine |
| CN104145614A (en) * | 2014-08-27 | 2014-11-19 | 韩玉龙 | Hydraulic fruit picking manipulator |
| CN204487546U (en) * | 2015-02-10 | 2015-07-22 | 重庆交通大学 | Transfer robot |
| CN105075515A (en) * | 2015-08-18 | 2015-11-25 | 广西大学 | Picking device for illicium verum |
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2015
- 2015-12-25 CN CN201510986067.1A patent/CN105474876A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008206438A (en) * | 2007-02-26 | 2008-09-11 | Iseki & Co Ltd | Fruit harvesting robot |
| WO2011031490A2 (en) * | 2009-08-25 | 2011-03-17 | Francis Wilson Moore | Fruit tree pruner and harvesting machine |
| CN104145614A (en) * | 2014-08-27 | 2014-11-19 | 韩玉龙 | Hydraulic fruit picking manipulator |
| CN204487546U (en) * | 2015-02-10 | 2015-07-22 | 重庆交通大学 | Transfer robot |
| CN105075515A (en) * | 2015-08-18 | 2015-11-25 | 广西大学 | Picking device for illicium verum |
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Application publication date: 20160413 |