CN105580560A - Apple harvesting robot - Google Patents
Apple harvesting robot Download PDFInfo
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- CN105580560A CN105580560A CN201410646607.7A CN201410646607A CN105580560A CN 105580560 A CN105580560 A CN 105580560A CN 201410646607 A CN201410646607 A CN 201410646607A CN 105580560 A CN105580560 A CN 105580560A
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Abstract
The invention discloses an apple harvesting robot. A mechanical structure mainly comprises two parts: a manipulator portion in five degrees of freedom and a vehicle-mounted portion in two degrees of freedom. The integrated structure mainly comprises ground 1, a control cabinet power box 2, a lifting platform 3, a waist 4, a waist motor 5, a big arm motor 6, a big arm 7, a forearm motor 8, a pneumatic push rod 9, a collection device 10, an end effector 11, a flexible band 12, a fruit and vegetable collecting basket 13, and a crawler belt dolly 14. The robot is low in cost, and can adapt to various bad operating environments, has good anti-interference capability, good reliability, and is simple in structure and high in productivity. A good hydraulic system is beneficial for improving work efficiency of the apple harvesting robot.
Description
Technical field
The present invention relates to a kind of manipulator, especially relate to a kind of apple picking robot that is applicable to agriculture field.
Background technology
Along with the high speed development of new and high technology industry, automation equipment manipulator upgrades at a high speed the product of oneself as the product in forward position, complied with the needs of the times. Robot has practical advantage, can realize and reduce manpower the high-precision requirement that meets work, oneself,, through being widely used in industrial automation is produced, is enriched traditional mechanical industry widely at present, and traditional hand labor production method is replaced by new technology gradually. Not only can transport goods and segregating articles replaces people's the duplication of labour back and forth at the total manipulator of automatic production line, most importantly can also under the hostile environments such as high temperature, corrosion and toxic gas, replace staff to operate, make personal safety obtain very large guarantee, therefore robot is widely used at machining, metal smelt, electronic product production, light industrial products, nuclear energy and agriculture field.
The function that fruit picking robot not only should possess accurate identification ripening fruits and accurately locate, also should be able to cook up suitable harvesting path fast, and guiding in real time manipulator is avoided the barrier such as branch, immature fruit, realizes autonomous harvesting fast. With respect to industrial robot, the working environment of fruit picking robot is uncertain, unstructuredness often, and fruit is more soft fragile, and these features have caused certain obstruction to the extensive use of plucking machine.
Summary of the invention
The invention provides a kind of apple picking robot, can solve the problem of above existence, and cost is low, can adapt to various severe running environment, antijamming capability is strong, and reliability is strong, simple in structure, productivity ratio is high. And good hydraulic system contributes to improve the operating efficiency of apple picking robot.
The technical solution adopted in the present invention is:
Overall structure of the present invention mainly comprises: switch board power supply box, lifting platform, waist, waist motor, large arm motor, large arm, forearm motor, air-leg, gathering-device, end effector, flexible-belt, fruits and vegetables are collected basket and pedrail etc.
Described apple picking robot frame for movement mainly comprises two parts: the manipulator part of 5DOF and the vehicle-mounted part of 2DOF. Wherein, the mechanical arm part of 5DOF is PRRRP type articulation structure, the 1st free degree is mainly used in the elevating function of mechanical arm, 2DOF is mechanical arm waist spinfunction, 3rd, 4DOF is large arm, forearm rotating shaft, and 5DOF is telescopic joint, according to the control instruction of robot, end effector is delivered to the position of object, realized the harvesting of apple.
Described telescopic arm is arranged on picking mechanical arm end joint, and telescopic arm also comprises transmission mechanism, and transmission mechanism is made up of two-way leading screw, round slider, chute and slide bar etc.
The manipulator of described apple picking robot comprises first-hand articulations digitorum manus, the first finger connecting rod, second finger joint, palm, second finger connecting rod, connecting rod, drive rod, shaft coupling, lower support bar, low bottom-disc, DC servo motor, long connecting rod, upper support bar, spacer flanger and screw shaft; Palm connects by upper support bar with spacer flanger; Low bottom-disc connects by lower support bar with spacer flanger, and travel switch is arranged on the junction of lower support bar and spacer flanger; Finger mounted is on palm, and two finger Parallel Symmetrics are arranged; Shaft coupling is linked together screw shaft and DC servo motor axle, and while making work, servomotor rotates, and the rotation of screw shaft is converted into moving up and down of drive rod.
The invention has the beneficial effects as follows: cost is low, can adapt to various severe running environment, and antijamming capability is strong, and reliability is strong, simple in structure, productivity ratio is high.
Brief description of the drawings
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is overall structure figure of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1, the overall structure of apple picking robot mainly comprises: ground 1, switch board power supply box 2, lifting platform 3, waist 4, waist motor 5, large arm motor 6, large arm 7, forearm motor 8, air-leg 9, gathering-device 10, end effector 11, flexible-belt 12, fruits and vegetables are collected basket 13 and pedrail 14 etc.
Frame for movement mainly comprises two parts: the manipulator part of 5DOF and the vehicle-mounted part of 2DOF. Wherein, the mechanical arm part of 5DOF is PRRRP type articulation structure, the 1st free degree is mainly used in the elevating function of mechanical arm, 2DOF is mechanical arm waist spinfunction, 3rd, 4DOF is large arm, forearm rotating shaft, and 5DOF is telescopic joint, according to the control instruction of robot, end effector is delivered to the position of object, realized the harvesting of apple.
Shown in Fig. 1, the manipulator of robot comprises first-hand articulations digitorum manus, the first finger connecting rod, second finger joint, palm, second finger connecting rod, connecting rod, drive rod, shaft coupling, lower support bar, low bottom-disc, DC servo motor, long connecting rod, upper support bar, spacer flanger and screw shaft; Palm connects by upper support bar with spacer flanger; Low bottom-disc connects by lower support bar with spacer flanger, and travel switch is arranged on the junction of lower support bar and spacer flanger; Finger mounted is on palm, and two finger Parallel Symmetrics are arranged; Shaft coupling is linked together screw shaft and DC servo motor axle, and while making work, servomotor rotates, and the rotation of screw shaft is converted into moving up and down of drive rod.
Claims (3)
1. an apple picking robot, is characterized in that: overall structure mainly comprises: ground 1, switch board power supply box 2, lifting platform 3, waist 4, waist motor 5, large arm motor 6, large arm 7, forearm motor 8, air-leg 9, gathering-device 10, end effector 11, flexible-belt 12, fruits and vegetables are collected basket 13 and pedrail 14 etc.
2. a kind of apple picking robot according to claim 1, is characterized in that: the frame for movement of described robot mainly comprises two parts: the manipulator part of 5DOF and the vehicle-mounted part of 2DOF; Wherein, the mechanical arm part of 5DOF is PRRRP type articulation structure, the 1st free degree is mainly used in the elevating function of mechanical arm, 2DOF is mechanical arm waist spinfunction, 3rd, 4DOF is large arm, forearm rotating shaft, and 5DOF is telescopic joint, according to the control instruction of robot, end effector is delivered to the position of object, realized the harvesting of apple.
3. a kind of apple picking robot according to claim 1, is characterized in that: the manipulator of described robot comprises first-hand articulations digitorum manus, the first finger connecting rod, second finger joint, palm, second finger connecting rod, connecting rod, drive rod, shaft coupling, lower support bar, low bottom-disc, DC servo motor, long connecting rod, upper support bar, spacer flanger and screw shaft; Palm connects by upper support bar with spacer flanger; Low bottom-disc connects by lower support bar with spacer flanger, and travel switch is arranged on the junction of lower support bar and spacer flanger; Finger mounted is on palm, and two finger Parallel Symmetrics are arranged; Shaft coupling is linked together screw shaft and DC servo motor axle, and while making work, servomotor rotates, and the rotation of screw shaft is converted into moving up and down of drive rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410646607.7A CN105580560A (en) | 2014-11-16 | 2014-11-16 | Apple harvesting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410646607.7A CN105580560A (en) | 2014-11-16 | 2014-11-16 | Apple harvesting robot |
Publications (1)
| Publication Number | Publication Date |
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| CN105580560A true CN105580560A (en) | 2016-05-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201410646607.7A Pending CN105580560A (en) | 2014-11-16 | 2014-11-16 | Apple harvesting robot |
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| CN (1) | CN105580560A (en) |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106258209A (en) * | 2016-08-03 | 2017-01-04 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of Fructus oleae europaeae fruit picking |
| CN106342482A (en) * | 2016-11-03 | 2017-01-25 | 哈尔滨理工大学 | Self-propelled omnibearing scalable berry harvesting machine |
| CN106416619A (en) * | 2016-11-21 | 2017-02-22 | 镇江市胜得机械制造有限责任公司 | Automatic fruit-picking machine with high safety performance |
| CN106576598A (en) * | 2016-12-25 | 2017-04-26 | 青岛智享专利技术开发有限公司 | Agricultural jujube pneumatic fruit and leaf separation harvester |
| CN106969936A (en) * | 2017-05-11 | 2017-07-21 | 山东省农业科学院农业质量标准与检测技术研究所 | A kind of residual detection field sampler of tomato agriculture |
| CN107041211A (en) * | 2017-06-06 | 2017-08-15 | 哈尔滨理工大学 | A kind of mechanical hand of fruit and vegetable picking controlled based on PLC |
| CN107231888A (en) * | 2017-06-28 | 2017-10-10 | 梧州学院 | Anistree picking machine |
| CN107535185A (en) * | 2017-09-29 | 2018-01-05 | 山东农业大学 | The rotary and lifting retractor device of one elite stand fruit picking machine device people |
| CN108029340A (en) * | 2017-12-05 | 2018-05-15 | 江苏科技大学 | A kind of picking robot arm and its control method based on adaptive neural network |
| CN108200809A (en) * | 2017-11-21 | 2018-06-26 | 铜陵市棵松农业科技有限公司 | A kind of picking fruit robot and control system |
| CN108207317A (en) * | 2017-12-14 | 2018-06-29 | 浙江工业大学 | A kind of movable type mangosteen picking robot |
| CN108513810A (en) * | 2018-04-10 | 2018-09-11 | 庄明磊 | A kind of multipurpose picking type mechanical equipment automatically |
| CN108657806A (en) * | 2018-05-28 | 2018-10-16 | 傅花宁 | A kind of robot and its implementation for mountainous region carrying |
| CN108684315A (en) * | 2018-07-16 | 2018-10-23 | 合肥学院 | A kind of multi-faceted fruit picking collection integrated apparatus |
| CN108821209A (en) * | 2018-07-09 | 2018-11-16 | 薛敏强 | A kind of Intelligentized mechanical arm and its working method for bottle body sealing |
| CN108908308A (en) * | 2018-10-05 | 2018-11-30 | 西北农林科技大学 | A kind of greenhouse picking robot |
| CN109287335A (en) * | 2018-11-10 | 2019-02-01 | 杭州裕登农业技术开发有限公司 | A kind of fruits and vegetables planting greenhouse |
| CN109335989A (en) * | 2018-11-19 | 2019-02-15 | 湖北工业大学 | Dam runner inspection platform with mechanical arm |
| CN109479520A (en) * | 2018-12-25 | 2019-03-19 | 南京工程学院 | A kind of fruit and vegetable picking robot bilateral teleoperation control method |
| CN109704059A (en) * | 2019-03-12 | 2019-05-03 | 长春工业大学 | A kind of logistics auxiliary carrying implement |
| CN110063139A (en) * | 2019-05-27 | 2019-07-30 | 苏平 | A kind of triggering apple picking device certainly |
| CN110063134A (en) * | 2019-03-18 | 2019-07-30 | 徐州盛斗士生物科技有限公司 | A kind of mangosteen is lossless to screw picking transmission screening plant vehicle |
| CN110140523A (en) * | 2019-06-21 | 2019-08-20 | 文成县简创科技有限公司 | A kind of red bayberry picking can dispense the picker of anti-landing with integration loading |
| CN112470709A (en) * | 2021-01-29 | 2021-03-12 | 河南工程学院 | Apple picking robot with high degree of freedom |
| CN112871748A (en) * | 2021-01-14 | 2021-06-01 | 重庆三峡学院 | Intelligent fruit and vegetable picking and sorting robot |
| CN113119068A (en) * | 2019-12-31 | 2021-07-16 | 季华实验室 | Multi-degree-of-freedom gripping device and robot applying same |
-
2014
- 2014-11-16 CN CN201410646607.7A patent/CN105580560A/en active Pending
Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106258209A (en) * | 2016-08-03 | 2017-01-04 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of Fructus oleae europaeae fruit picking |
| CN106342482A (en) * | 2016-11-03 | 2017-01-25 | 哈尔滨理工大学 | Self-propelled omnibearing scalable berry harvesting machine |
| CN106416619A (en) * | 2016-11-21 | 2017-02-22 | 镇江市胜得机械制造有限责任公司 | Automatic fruit-picking machine with high safety performance |
| CN106416619B (en) * | 2016-11-21 | 2019-02-22 | 镇江市胜得机械制造有限责任公司 | A kind of automatic fruit picker of high safety performance |
| CN106576598B (en) * | 2016-12-25 | 2019-01-08 | 黄乙殊 | A kind of pneumatic fruit leaf of agricultural jujube separates cropper |
| CN106576598A (en) * | 2016-12-25 | 2017-04-26 | 青岛智享专利技术开发有限公司 | Agricultural jujube pneumatic fruit and leaf separation harvester |
| CN106969936A (en) * | 2017-05-11 | 2017-07-21 | 山东省农业科学院农业质量标准与检测技术研究所 | A kind of residual detection field sampler of tomato agriculture |
| CN107041211A (en) * | 2017-06-06 | 2017-08-15 | 哈尔滨理工大学 | A kind of mechanical hand of fruit and vegetable picking controlled based on PLC |
| CN107231888A (en) * | 2017-06-28 | 2017-10-10 | 梧州学院 | Anistree picking machine |
| CN107535185A (en) * | 2017-09-29 | 2018-01-05 | 山东农业大学 | The rotary and lifting retractor device of one elite stand fruit picking machine device people |
| CN108200809A (en) * | 2017-11-21 | 2018-06-26 | 铜陵市棵松农业科技有限公司 | A kind of picking fruit robot and control system |
| CN108029340A (en) * | 2017-12-05 | 2018-05-15 | 江苏科技大学 | A kind of picking robot arm and its control method based on adaptive neural network |
| CN108207317A (en) * | 2017-12-14 | 2018-06-29 | 浙江工业大学 | A kind of movable type mangosteen picking robot |
| CN108207317B (en) * | 2017-12-14 | 2024-01-30 | 浙江工业大学 | Movable mangosteen picking robot |
| CN108513810A (en) * | 2018-04-10 | 2018-09-11 | 庄明磊 | A kind of multipurpose picking type mechanical equipment automatically |
| CN108657806A (en) * | 2018-05-28 | 2018-10-16 | 傅花宁 | A kind of robot and its implementation for mountainous region carrying |
| CN108657806B (en) * | 2018-05-28 | 2020-10-23 | 义乌市绳墨新材料有限公司 | Robot for mountain land transportation and implementation method thereof |
| CN108821209A (en) * | 2018-07-09 | 2018-11-16 | 薛敏强 | A kind of Intelligentized mechanical arm and its working method for bottle body sealing |
| CN108684315A (en) * | 2018-07-16 | 2018-10-23 | 合肥学院 | A kind of multi-faceted fruit picking collection integrated apparatus |
| CN108908308A (en) * | 2018-10-05 | 2018-11-30 | 西北农林科技大学 | A kind of greenhouse picking robot |
| CN109287335A (en) * | 2018-11-10 | 2019-02-01 | 杭州裕登农业技术开发有限公司 | A kind of fruits and vegetables planting greenhouse |
| CN109335989A (en) * | 2018-11-19 | 2019-02-15 | 湖北工业大学 | Dam runner inspection platform with mechanical arm |
| CN109479520A (en) * | 2018-12-25 | 2019-03-19 | 南京工程学院 | A kind of fruit and vegetable picking robot bilateral teleoperation control method |
| CN109479520B (en) * | 2018-12-25 | 2022-02-11 | 南京工程学院 | Bilateral teleoperation control method for fruit and vegetable picking robot |
| CN109704059A (en) * | 2019-03-12 | 2019-05-03 | 长春工业大学 | A kind of logistics auxiliary carrying implement |
| CN110063134A (en) * | 2019-03-18 | 2019-07-30 | 徐州盛斗士生物科技有限公司 | A kind of mangosteen is lossless to screw picking transmission screening plant vehicle |
| CN110063134B (en) * | 2019-03-18 | 2020-11-13 | 江苏乐虎安全技术发展有限公司 | Nondestructive twisting, picking, conveying and screening device vehicle for mangosteen |
| CN110063139A (en) * | 2019-05-27 | 2019-07-30 | 苏平 | A kind of triggering apple picking device certainly |
| CN110140523B (en) * | 2019-06-21 | 2021-10-22 | 文成县简创科技有限公司 | Integrated loading split-loading anti-falling picking device for waxberry picking |
| CN110140523A (en) * | 2019-06-21 | 2019-08-20 | 文成县简创科技有限公司 | A kind of red bayberry picking can dispense the picker of anti-landing with integration loading |
| CN113119068A (en) * | 2019-12-31 | 2021-07-16 | 季华实验室 | Multi-degree-of-freedom gripping device and robot applying same |
| CN112871748A (en) * | 2021-01-14 | 2021-06-01 | 重庆三峡学院 | Intelligent fruit and vegetable picking and sorting robot |
| CN112470709A (en) * | 2021-01-29 | 2021-03-12 | 河南工程学院 | Apple picking robot with high degree of freedom |
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Legal Events
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160518 |
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| WD01 | Invention patent application deemed withdrawn after publication |