CN106797811B - A kind of plot of land grape autumn beta pruning robot - Google Patents
A kind of plot of land grape autumn beta pruning robot Download PDFInfo
- Publication number
- CN106797811B CN106797811B CN201710026753.3A CN201710026753A CN106797811B CN 106797811 B CN106797811 B CN 106797811B CN 201710026753 A CN201710026753 A CN 201710026753A CN 106797811 B CN106797811 B CN 106797811B
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- Prior art keywords
- telescopic
- telescopic rod
- electric cylinders
- platform
- driving
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- 235000009754 Vitis X bourquina Nutrition 0.000 title claims abstract description 16
- 235000012333 Vitis X labruscana Nutrition 0.000 title claims abstract description 16
- 235000014787 Vitis vinifera Nutrition 0.000 title claims abstract description 16
- 238000013138 pruning Methods 0.000 title claims abstract description 15
- 240000006365 Vitis vinifera Species 0.000 title 1
- 230000009184 walking Effects 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 241000219095 Vitis Species 0.000 claims abstract description 15
- 230000008859 change Effects 0.000 claims abstract description 12
- 238000009434 installation Methods 0.000 claims description 5
- 238000009966 trimming Methods 0.000 claims description 3
- 230000009194 climbing Effects 0.000 claims description 2
- 230000008602 contraction Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 1
- 230000000916 dilatatory effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
- A01G3/0408—Apparatus for trimming hedges, e.g. hedge shears specially adapted for trellis work, e.g. machines for pruning vine or the like
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of plot of land grape autumn beta pruning robot, including platform, four walking mechanisms, two baskets, holder, camera, battery pack, four hinged-supports, two, four support arms of motor, four the first telescopics, two shields, two screw blades etc., it is characterized by: being provided with second telescopic rod in each second telescopic on the position for the quadrangle that the lower end of four second telescopics is respectively and fixedly installed to platform；The lower end of second electric cylinders is mounted on the second telescopic, and upper end is mounted on the second telescopic rod, and four the second telescopic rods of flexible driving of four the second electric cylinders stretch.The present invention passes through four Serve Motor Control walking mechanisms, the angle on walking mechanism and ground can be made to change, to adapt to different landform, by adjusting the height and angle of screw blade during beta pruning, the grape branch of different location can be trimmed.
Description
Technical field
The present invention relates to robot field, in particular to a kind of plot of land grape autumn beta pruning robot.
Background technique
During planting grape, need to complete the pruning to grape, but tradition plantation mostly uses greatly manually
A kind of method of beta pruning, it is necessary to which a large amount of manpower, cost is excessively high, and working efficiency is low, and machine is needed to replace being accomplished manually beta pruning
Work, such as application No. is 201520845270.2 utility model patents to disclose a kind of " grape pruning machine ", main to wrap
Bracket is included, bracket is equipped with hitching frame, power input device and intermediate drive gear case, and it is external biggish dilatory in volume to need
On machine, different landform is not adapted to, is unable to automatically walk, it can not obstacle detouring, it is therefore desirable to which one kind can adapt to different in width
The beta pruning robot of plot of land.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of plot of land grape autumn beta pruning robot, pass through four third servos
The wheel carrier of motor control walking mechanism and the angle of robot, so that different landform is adapted to, two screw blade rotary cuttings
The grape branch of two sides is cut, the basket of two sides can catch the branch cut, and utonomous working is simple and efficient.
Technical solution used in the present invention is: a kind of plot of land grape autumn beta pruning robot, including platform, four walkings
Mechanism, two baskets, holder, camera, battery pack, four hinged-supports, two, four support arms of motor, four first it is flexible
Set, four the first telescopic rods, four the first electric cylinders, two first servo motors, two shields, two screw blades, two
Support rod, four the second telescopics, four the second electric cylinders, two cross bars, four third electric cylinders, four third telescopic rods, four
Third telescopic, four the second telescopic rods, it is characterised in that: the lower end of four second telescopics is fixedly mounted respectively
On the position at four angles of platform, second telescopic rod is provided in each second telescopic；Second electric cylinders
Lower end is mounted on the second telescopic, and upper end is mounted on the second telescopic rod, and four the second electric cylinders respectively drive four
Two telescopic rods stretch；Two cross bars are separately mounted on two the second telescopic rods of left-right position, each cross bar two
End is each provided with first telescopic, and first telescopic rod is equipped in each first telescopic；First electric cylinders
Rear end be mounted on the first telescopic, front end is mounted on the first telescopic rod, and the flexible driving first of the first electric cylinders is stretched
Contracting bar stretches；The rear end of four support arms and the front end of four the first telescopic rods are hinged, hinged place installation
There is a first servo motor, the axis of first servo motor is connect with support arm, driving support arm rotation；The support rod with
Two support arms are fixedly mounted, and make two support arm keeping parallelisms；The motor is mounted on the subsequent center of support rod
Position, axis are fixedly connected with screw blade, driving screw blade rotation, are additionally provided with a shield before support rod；
The holder is mounted on the middle position of platform front end, and camera is mounted on holder；The battery pack peace
Mounted in the position of platform rear end；Four third telescopics are separately mounted to the position on platform on the inside of the second telescopic rod,
And a third telescopic rod is provided in each third telescopic, one end of the third electric cylinders is mounted on third telescopic
On, the other end is mounted on third telescopic rod, and the flexible driving third telescopic rod of third electric cylinders stretches；Two baskets are logical
Connector is crossed to connect with the third telescopic rod of two sides respectively；
The walking mechanism includes that wheel, the second servo motor, wheel carrier, the 4th electric cylinders, the 4th telescopic, third are watched
Motor, the 4th telescopic rod are taken, the wheel is mounted on the axis of wheel carrier, and the second servo motor is mounted on the back of wheel carrier
The axis connection of face, axis and wheel carrier；The upper end of wheel carrier is provided with the 4th telescopic rod, the 4th telescopic rod peace
In the 4th telescopic；One end of 4th electric cylinders is mounted on the 4th telescopic, and it is flexible that the other end is mounted on the 4th
On bar, the 4th telescopic rod of flexible driving of the 4th electric cylinders stretches；Platform is arranged with four hinged-supports, four walking mechanisms
Hinged with four hinged-supports respectively, there are four third servo motor, third servo motor drives third flexible for hinged place installation
Set rotation.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that
1. the present invention can be such that the angle on walking mechanism and ground becomes by four Serve Motor Control walking mechanisms
Change, to adapt to different landform.
2. can be carried out to the grape branch of different location during beta pruning by adjusting the height and angle of screw blade
Trimming.
Detailed description of the invention
Fig. 1,2,3 are the structural schematic diagram after of the invention be completed.
Fig. 4 is the scheme of installation of third telescopic of the invention.
Fig. 5 is the structural schematic diagram of screw blade of the invention.
Fig. 6 is the structural schematic diagram of walking mechanism of the invention.
Drawing reference numeral: 1- platform；2- walking mechanism；3- baskets；4- holder；5- camera；6- battery pack；7- hinged-support；8-
Motor；9- support arm；The first telescopic of 10-；The first telescopic rod of 11-；The first electric cylinders of 12-；13- first servo motor；14- is anti-
Shield；15- screw blade；16- support rod；The second telescopic of 17-；The second electric cylinders of 18-；19- cross bar；20- third electric cylinders；21-
Third telescopic rod；22- third telescopic；The second telescopic rod of 23-；201- wheel；The second servo motor of 202-；203- wheel carrier；
The 4th electric cylinders of 204-；The 4th telescopic of 205-；206- third servo motor；The 4th telescopic rod of 207-.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of plot of land grape autumn beta pruning robot, including platform 1, four
8 two, four 2, two baskets 3 of a walking mechanism, holder 4, camera 5,6, four hinged-supports 7 of battery pack, motor support arms
9, four first servo motors 13, two of the first electric cylinders 12, two of the first telescopic rod 11, four of the first telescopic 10, four are anti-
18, two cross bars of the second electric cylinders of the second telescopic 17, four of support rod 16, four of screw blade 15, two of shield 14, two
19, four 22, four the second telescopic rods 23 of third telescopic of third telescopic rod 21, four of third electric cylinders 20, four, feature exists
In: on the position at four angles that the lower end of four second telescopics 17 is respectively and fixedly installed to platform 1, each second
Second telescopic rod 23 is provided in telescopic 17；The lower end of second electric cylinders 18 is mounted on the second telescopic 17
On, upper end is mounted on the second telescopic rod 23, and four the second electric cylinders 18 respectively drive the flexible of four the second telescopic rods 23；Institute
Two cross bars 19 stated are separately mounted on two the second telescopic rods 23 of left-right position, and each 19 both ends of cross bar are each provided with one
A first telescopic 10 is equipped with first telescopic rod 11 in each first telescopic 10；After first electric cylinders 12
End is mounted on the first telescopic 10, and front end is mounted on the first telescopic rod 11, the flexible driving first of the first electric cylinders 12
Telescopic rod 11 stretches；The rear end of four support arms 9 and the front end of four the first telescopic rods 11 are hinged, hinged
Place is equipped with a first servo motor 13, and the axis of first servo motor 13 is connect with support arm 9, and driving support arm 9 rotates；Institute
The support rod 16 stated and two support arms 9 are fixedly mounted, and make two 9 keeping parallelisms of support arm；The motor 8 is mounted on
The subsequent central location of support rod 16, axis are fixedly connected with screw blade 15, and driving screw blade 15 rotates, support rod 16
Front is additionally provided with a shield 14；
The holder 4 is mounted on the middle position of 1 front end of platform, and camera 5 is mounted on holder 4；The battery
Group 6 is mounted on the position of 1 rear end of platform；Four third telescopics 22 are separately mounted to the second telescopic rod 17 on platform 1
The position of inside, and a third telescopic rod 21 is provided in each third telescopic 22, one end of the third electric cylinders 20
It is mounted on third telescopic 22, the other end is mounted on third telescopic rod 21, and the flexible driving third of third electric cylinders 20 is flexible
Bar 21 stretches；Two baskets 3 are connect with the third telescopic rod 21 of two sides respectively by connector；
The walking mechanism 2 includes wheel 201, the second servo motor 202, wheel carrier 203, the 4th electric cylinders the 204, the 4th
Telescopic 205, third servo motor 206, the 4th telescopic rod 207, the wheel 201 are mounted on the axis of wheel carrier 203, the
Two servo motors 202 are mounted on the back side of wheel carrier 203, the axis connection of axis and wheel carrier 203；The upper end of wheel carrier 203
It is provided with the 4th telescopic rod 207, the 4th telescopic rod 207 is mounted in the 4th telescopic 205；4th electricity
One end of cylinder 204 is mounted on the 4th telescopic 205, and the other end is mounted on the 4th telescopic rod 207, and the 4th electric cylinders 204 are stretched
It stretches the 207 of contracting the 4th telescopic rod of driving；Platform 1 is arranged with four hinged-supports 7, four walking mechanisms 2 respectively with four
Hinged-support 7 is hinged, and there are four third servo motor 206, third servo motors 206 to drive third telescopic for hinged place installation
204 rotations.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Working principle of the present invention: the present invention passes through the all-direction rotation of holder 4 when in use, and the identification of control camera 5 is not
Equidirectional road information, four walking mechanisms 2 under platform 1 provide power, the extension and contraction control of the 4th electric cylinders 204 of two sides the
Stretching for four telescopic rods, to change the distance between two wheels 201, increases the obstacle climbing ability of robot, four thirds are watched
The rotation for taking motor 206 can change the angle of walking structure 2 Yu platform 1, and change the angle of wheel 201 Yu ground,
To adapt to different landform；Four the second telescopic rods 23 of flexible driving of four the second electric cylinders 18 stretch, to adjust cross
The height of bar 19, the first telescopic rod of flexible driving for the first electric cylinders 12 being arranged on the first telescopic 10 being connect with cross bar 19
Flexible, first servo motor 13 drives the rotation of support arm 9, to change the pitch angle of screw blade 15 and motor 8；The
The flexible driving third telescopic rod 21 of three electric cylinders 20 stretches, to change the basket 3 and platform 1 being connected with third telescopic rod 21
Distance, the structure of the structure and drive motor and screw blade 15 that drive basket 3 cooperates, to realize to different height
It spends, the trimming of the grape branch of different angle.
In the description of the present invention, it should be noted that term " on ", "lower", "front", "rear", "left", "right" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings or when invention product use usually puts
The orientation or positional relationship put, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively heavy
The property wanted.
Claims (1)
1. a kind of plot of land grape autumn beta pruning robot, including platform (1), four walking mechanisms (2), two baskets (3), holders
(4), camera (5), battery pack (6), four hinged-supports (7), two motor (8), four support arms (9), four first stretch
Contracting set (10), four the first telescopic rods (11), four the first electric cylinders (12), two first servo motors (13), two shields
(14), two screw blades (15), two support rods (16), four the second telescopics (17), four the second electric cylinders (18), two
Cross bar (19), four third electric cylinders (20), four third telescopic rods (21), four third telescopics (22), four second it is flexible
Bar (23), it is characterised in that: the lower end of four second telescopics (17) is respectively and fixedly installed to four of platform (1)
On the position at angle, second telescopic rod (23) is provided in each second telescopic (17)；Second electric cylinders (18)
Lower end is mounted on the second telescopic (17), and upper end is mounted on the second telescopic rod (23), four the second electric cylinders (18) point
Not Qu Dong four the second telescopic rods (23) it is flexible；Two cross bars (19) are separately mounted to two second of left-right position
On telescopic rod (23), each cross bar (19) both ends are each provided with first telescopic (10), and each first telescopic (10) is interior
One the first telescopic rod (11) is installed；The rear end of first electric cylinders (12) is mounted on the first telescopic (10), preceding
End is mounted on the first telescopic rod (11), and the first telescopic rod of flexible driving (11) of the first electric cylinders (12) stretches；Described
The rear end of four support arms (9) and the front end of four the first telescopic rods (11) are hinged, and hinged place is equipped with one first
The axis of servo motor (13), first servo motor (13) is connect with support arm (9), driving support arm (9) rotation；The support
Bar (16) is fixedly mounted with two support arms (9), and makes two support arm (9) keeping parallelisms；The motor (8) is mounted on
Support rod (16) subsequent central location, axis are fixedly connected with screw blade (15), driving screw blade (15) rotation, support
A shield (14) is additionally provided with before bar (16)；The holder (4) is mounted on the middle position of platform (1) front end,
Camera (5) is mounted on holder (4)；The battery pack (6) is mounted on the position of platform (1) rear end；Described four
Three telescopics (22) are separately mounted to the position on platform (1) on the inside of the second telescopic rod (17), and each third telescopic (22)
It is inside provided with a third telescopic rod (21), one end of the third electric cylinders (20) is mounted on third telescopic (22), separately
One end is mounted on third telescopic rod (21), stretching for the flexible driving third telescopic rod (21) of third electric cylinders (20), described
Two baskets (3) are connect with the third telescopic rod (21) of two sides respectively by connector, and the walking mechanism (2) includes wheel
(201), the second servo motor (202), wheel carrier (203), the 4th electric cylinders (204), the 4th telescopic (205), third servo electricity
Machine (206), the 4th telescopic rod (207), the wheel (201) are mounted on the axis of wheel carrier (203), the second servo motor
(202) back side of wheel carrier (203), the axis connection of axis and wheel carrier (203) are mounted on；The upper end of wheel carrier (203) is set
It is equipped with the 4th telescopic rod (207), the 4th telescopic rod (207) is mounted in the 4th telescopic (205)；Described
One end of 4th electric cylinders (204) is mounted on the 4th telescopic (205), and the other end is mounted on the 4th telescopic rod (207), and the 4th
The 4th telescopic rod (207) of flexible driving of electric cylinders (204) stretches；Platform (1) is arranged with four hinged-supports (7), four rows
Walk mechanism (2) respectively with four hinged-supports (7) hingedly, there are four third servo motor (206), third is watched for hinged place installation
Take motor (206) driving third telescopic (204) rotation；In use, passing through the all-direction rotation of holder (4), camera is controlled
(5) road information of different directions is identified, four walking mechanisms (2) under platform (1) provide power, the 4th electric cylinders of two sides
(204) the 4th telescopic rod (207) of extension and contraction control stretches, to change the distance between two wheels (201), increases machine
The obstacle climbing ability of people, the rotation of four third servo motors (206) can change the angle of walking structure (2) Yu platform (1), and
And the angle of wheel (201) and ground is changed, to adapt to different landform；The flexible driving four of four the second electric cylinders (18)
A second telescopic rod (23) is stretched, so that the height of cross bar (19) is adjusted, the first telescopic (10) being connect with cross bar (19)
Flexible, first servo motor (13) the driving support arm of the first telescopic rod of flexible driving (11) of the first electric cylinders (12) of upper setting
(9) rotation, to change the pitch angle of screw blade (15) and motor (8)；The flexible driving of third electric cylinders (20)
Three telescopic rods (21) stretch, to change at a distance from the basket (3) being connected with third telescopic rod (21) and platform (1), driving
The structure of the structure of basket (3) and drive motor (8) and screw blade (15) cooperates, to realize to different height, no
With the trimming of the grape branch of angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710026753.3A CN106797811B (en) | 2017-01-14 | 2017-01-14 | A kind of plot of land grape autumn beta pruning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710026753.3A CN106797811B (en) | 2017-01-14 | 2017-01-14 | A kind of plot of land grape autumn beta pruning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106797811A CN106797811A (en) | 2017-06-06 |
| CN106797811B true CN106797811B (en) | 2019-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710026753.3A Active CN106797811B (en) | 2017-01-14 | 2017-01-14 | A kind of plot of land grape autumn beta pruning robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106797811B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108684363B (en) * | 2018-07-12 | 2020-12-08 | 福建金鼎建筑发展有限公司 | Landscaping trimming device and method capable of adjusting height and angle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002101729A (en) * | 2000-09-28 | 2002-04-09 | Terada Seisakusho Co Ltd | Multipurpose sulky type working vehicle for tea field |
| CN104782326A (en) * | 2015-05-08 | 2015-07-22 | 山东农业大学 | Intelligent agricultural robot moving platform |
| CN204929844U (en) * | 2015-09-11 | 2016-01-06 | 中国地质科学院岩溶地质研究所 | A kind of adjustable device for laying-out protective coverings for vegetables |
| CN205337335U (en) * | 2016-03-03 | 2016-06-29 | 国网安徽省电力公司检修公司 | Compound weeding machine people of remote control of transformer substation formula |
-
2017
- 2017-01-14 CN CN201710026753.3A patent/CN106797811B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002101729A (en) * | 2000-09-28 | 2002-04-09 | Terada Seisakusho Co Ltd | Multipurpose sulky type working vehicle for tea field |
| CN104782326A (en) * | 2015-05-08 | 2015-07-22 | 山东农业大学 | Intelligent agricultural robot moving platform |
| CN204929844U (en) * | 2015-09-11 | 2016-01-06 | 中国地质科学院岩溶地质研究所 | A kind of adjustable device for laying-out protective coverings for vegetables |
| CN205337335U (en) * | 2016-03-03 | 2016-06-29 | 国网安徽省电力公司检修公司 | Compound weeding machine people of remote control of transformer substation formula |
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| CN106797811A (en) | 2017-06-06 |
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Effective date of registration: 20191106 Address after: 325200 floor 6, building C, Jingrui building, Zhaozhai village, Tangxia Town, Ruian City, Wenzhou City, Zhejiang Province Applicant after: Ruian City stime Education Technology Co.,Ltd. Address before: 054900 No. 101 Yao Lou, Linxi County, Hebei, Xingtai Applicant before: Xu Jianqin |
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Effective date of registration: 20220601 Address after: 325200 building 56, 60 and 65, Shidai Pioneer Park, Mayu Town, Ruian City, Wenzhou City, Zhejiang Province Patentee after: Zhejiang Ruibao Packaging Machinery Co.,Ltd. Address before: 325200 6 / F, building C, Jingrui building, Zhaozhai village, Tangxia Town, Rui'an City, Wenzhou City, Zhejiang Province Patentee before: Ruian City stime Education Technology Co.,Ltd. |
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Denomination of invention: A grape pruning robot for autumn in the field Granted publication date: 20191203 Pledgee: China Postal Savings Bank Co.,Ltd. Rui'an City Branch Pledgor: Zhejiang Ruibao Packaging Machinery Co.,Ltd. Registration number: Y2024980041179 |