CN107743769A - Multiclass fruit picker with fine setting and quick change function - Google Patents
Multiclass fruit picker with fine setting and quick change function Download PDFInfo
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- CN107743769A CN107743769A CN201711143109.0A CN201711143109A CN107743769A CN 107743769 A CN107743769 A CN 107743769A CN 201711143109 A CN201711143109 A CN 201711143109A CN 107743769 A CN107743769 A CN 107743769A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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Abstract
A kind of multiclass fruit picker with fine setting and quick change function, including fruit picking device, scalable mechanical arm, micromatic setting, lowering or hoisting gear connect and compose；And pass through single-chip microcomputer STC89C52RC control circuits.Advantage is that manufacturing cost is cheap, green；Electrical-mechanical movement and motor-driven integrative, liberate labour；Occupy little space, it is simple to operate；It is applied widely, it is adapted to multiclass fruit（Apple, peach, pears, mandarin orange, orange, lichee, cherry, grape etc.）The place of harvesting；It is pollution-free using power hydraulic pressure as driving.
Description
Technical field
The present invention is a kind of multiclass fruit picker with fine setting and quick change function.
Background technology
At present, in the market is then few for fruit picking machine equipment vdiverse in function, and the fruit of some main flows is adopted
There is the shortcomings that function is single, flexibility ratio is low, the scope of application is small in device and picking, be not suitable for the mechanism of multiclass fruit picking.Simultaneously
Traditional picker workload is big, and efficiency is low, also greatly wastes human resources.Therefore a kind of mature and reliable of the market demand
Have fine setting and quick change function multiclass fruit picker.
The content of the invention
The purpose of the present invention is solving above-mentioned existing existing issue, there is provided a kind of efficiency high, has fine setting and quick change
The multiclass fruit picker of function.
What the present invention was realized in：Mechanical part mainly includes fruit picking device, scalable mechanical arm, micromatic setting, lifting
Device connects and composes.
Fruit picking device is divided into Shears for picking fruit mechanism or fruit-picking-up hook hooks mechanism.
In Shears for picking fruit mechanism：Additional lock thing block b is fixed on the blade of single cutting tool side, and additional lock thing block a is fixed on
On single cutting tool opposite side blade, the both sides blade of single cutting tool is connected by bolt g, the hydraulic cylinder motion bar of shear mechanism and connection
Plate is fixed by bolt f, and connecting plate is connected by bolt with single cutting tool, and stopper slot is provided with single cutting tool, is controlled by stopper slot
The scissors angle of release of the both sides blade of single cutting tool, one end of connecting tube are connected by bolt with harvesting hydraulic cylinder, connecting tube it is another
End is connected by bolt with single cutting tool opposite side；The connection end for plucking hydraulic cylinder a is provided with limited impression, through hole, and through hole passes through spiral shell
Bolt is connected with upper mechanical arm.
In fruit-picking-up hook hooks mechanism：Three arc pawl hooks are connected by bolt h with connecting tube, three arc pawl hooks and six sides
Shape contiguous block connects, and hexagon contiguous block connect with the hydraulic cylinder motion bar of pawl hooks mechanism, connecting tube one end of pawl hooks mechanism and
Harvesting hydraulic cylinder b is bolted, and spring is provided with connecting tube, and harvesting hydraulic cylinder b connection end is spacing recessed provided with plucking
Groove, harvesting through hole, harvesting through hole are connected by bolt with upper mechanical arm.
The scalable mechanical arm of installation in the upper mechanical arm of mechanical arm mechanism, scalable mechanical arm, which is provided with, can fix blind hole,
Anti-skidding button, groove are installed on upper mechanical arm.
So as to realize that Shears for picking fruit mechanism hooks mechanism quick change function with fruit-picking-up hook, and groove can prevent fruit picking device from circumferentially turning
Dynamic, through hole can limit its axial movement.
Eight angles of the crane of lowering or hoisting gear are connected by bolt b with eight crane sliding blocks, are slided in eight cranes
The groove both sides of road seat are separately added into bearing a and bearing b, and are connected with eight crane sliding blocks by bolt a and eight liftings
Frame slideway base is uniformly fixed on bakelite plate a and bakelite plate b by bolt i and bolt j, and it is straight that four flanges are installed on bakelite plate b
Bobbin holds a and is bolted, and allows four optical axis a to penetrate in four flange linear bearing a, and four stop collars are mounted in four
On optical axis a, four optical axis a are fixed by eight horizontal optical axis seats, eight horizontal optical axis seats be bolted on bakelite plate a and
On bakelite plate c, lifting hydraulic cylinder a upper ends are fixed on crane by stay bolt b, and lifting hydraulic cylinder a lower ends are fixed on and can revolved
Turn on hydraulic pressure cylinder seat a, be bolted on rotatable hydraulic cylinder seat a on bakelite plate a, pushed away when lifting hydraulic cylinder a is flexible
Dynamic expansion bracket central shaft stay bolt b drives bakelite plate b to move up and down, so as to make hoistable platform realize one-level elevating function.
It is bolted in the four horizontal optical axis seat b and bakelite plate d of automatic fine tuning device, four horizontal optical axis seat b
Four optical axis b are fixed with, four flanges linear bearing b, optical axis b are bolted on bakelite plate b and penetrate flange linear bearing b
In, leading screw is connected with motor by shaft coupling, and motor is fixed on bakelite plate d by motor cabinet, real by motor driven leading screw
Existing automatic fine tuning function.There are upper and lower two parts to finely tune in manual fine-tuning, stay bolt b is arranged on lower mechanical arm in upper fine setting,
Stay bolt b end is connected with U-shaped protection block in upper fine setting, and stay bolt a is connected solid with bakelite plate d, bakelite plate e in lower fine setting
Fixed, different harvesting angles can be realized by manually adjusting trimming bolt a and trimming bolt b up and down so that harvesting is more flexible more
Freely.Upper mechanical arm by anti-skidding button and blind hole can be fixed precisely coordinate and reach the retractable of upper mechanical arm, upper machine
Tool arm tail end is welded with auxiliary connecting rod a and auxiliary connecting rod b, and is connected by bolt d with lower mechanical arm intermediate cam contiguous block, can add
It is strong its in the stability of three dimensions, lower mechanical arm is combined with mechanical arm fixed seat to be fixed on bakelite plate d, and connecting rod runs through lower machine
Tool arm is connected bearing, and adds locking block in connecting rod two end, and hold-down support connects two assistance for lifting optical axis c, hydraulic pressure
Cylinder b lower ends are connected with rotatable hydraulic cylinder seat b, and rotatable hydraulic cylinder seat b is connected with bakelite plate e, rotatable hydraulic cylinder seat b
Upper end be fixed together with U-shaped contiguous block, U-shaped contiguous block is connected by bolt c with upper mechanical arm, each mechanism precisely match somebody with somebody
Close lower realize and position harvesting.
Circuit-line control section, mainly by single-chip microcomputer STC89C52RC, motor drive module L298N, magnetic valve, relay
Device module YX-M01 and infrared receiving module VS1838 module compositions.
Single-chip microcomputer STC89C52RC 34-35 pins connect motor drive module L298N IN2 ends, IN1 ends, motor driving
The direct current generator M1 that module L298N Out1- Out2 terminate a 12V lifts to control two level to finely tune；Single-chip microcomputer
STC89C52RC 1-3 pin contact relay modules YX-M01 INT1-INT3 pins, magnetic valve 1, magnetic valve 2, magnetic valve 3
One end connection 220V live wire, magnetic valve 1, magnetic valve 2, magnetic valve 3 other end connection relay module YX-M01 after
Appliance wiring terminal 4, relay terminal 5 are grounded, and three relay terminals 1 connect 220V zero line, single-chip microcomputer
STC89C52RC 12 pins meet infrared receiver VS1838 signal output pin OUT, and control receives infrared command.
It is an advantage of the invention that：
（1）, pass through fast replacing device, fruit picking device（Scissors and pawl hooks）The harvesting to multiclass fruit can be realized, when winning apple, peach
During the fruit such as son, pears, mandarin orange, orange, by fruit picking device（Pawl hooks）Before afterbody has limited impression and the scalable mechanical arm of quick change
The limited impression at end, which is realized, excessively to be coordinated, and is bolted on the through hole at its cooperation, when winning lichee, cherry, Portugal
During grape etc., by fruit picking device（Scissors）There is afterbody the spacing and groove of quick change to be realized with the limited impression of scalable mechanical arm front end
Excessively coordinate, and be bolted on the through hole at its cooperation, will solve a kind of device can only pluck a kind of fruit
Problem；
（2）, multistage lifting, multistage fine setting, different height, the fruit of angle can be plucked, reach the harvesting of six-freedom degree；
（3）, manufacturing cost it is cheap, it is green；
（4）, infrared remote control control, realize electromechanical integration, liberate labour；
（5）, occupy little space, it is simple to operate.
Brief description of the drawings
Fig. 1 is the front view of the present invention；
Fig. 2 is left view；
Fig. 3 is one-level lowering or hoisting gear schematic diagram；
Fig. 4 is two level fine adjustment lifting gear schematic diagram；
Fig. 5 is controllable fine setting mechanical arm schematic diagram；
Fig. 6 is the schematic diagram of mechanical arm mechanism；
Fig. 7 is the schematic diagram that fruit-picking-up hook hooks mechanism；
Fig. 8 is the schematic diagram of Shears for picking fruit mechanism；
Fig. 9 is the front view that one-level lifts middle slideway group；
Figure 10 is Fig. 9 left view；
Figure 11 is pneumatic circuit control figure；
Figure 12 is motor circuit control figure；
Figure 13 is infrared remote control schematic diagram.
In figure:1. fruit picking device, 2. scalable mechanical arms, 3. micromatic settings, 4. lowering or hoisting gears, 5. horizontal optical axis seat a, 6. limits
Position, 7. crane slideway bases, 8. crane sliding blocks, 9. cranes, 10. flange linear bearing a, 11. rotatable hydraulic cylinder seat a,
12. lifting hydraulic cylinder a, 13. bolt a, 14. bolt b, 15. stay bolt a, 16. stay bolt b, 18. optical axis a, 19. optical axis b, 20.
Optical axis c, 21. leading screws, 22. shaft couplings, 23. motors, 24. motor cabinets, 25. feed screw nuts, 26. pawl hooks mechanisms connecting tube,
It is 27. flange linear bearing b, the hydraulic cylinder motion bar of 28. pawl hooks mechanisms, 29. horizontal optical axis seat b, 30. trimming bolt a, 31 micro-
Adjust bolt b, 32. rotatable hydraulic cylinder seat b, 33. hydraulic cylinder b, 34. mechanical arm fixed seats, 35. times mechanical arms, 36. connecting rods, 37.
Hold-down support, 38. locking blocks, 39.U types protection block, 40. triangle joint blocks, 41.U types contiguous block, 42. auxiliary connecting rod a,
43. auxiliary connecting rod b, 44. bolt c, 45. bolt d, mechanical arm on 46., 47. anti-skidding buttons, 48. can fix blind hole, 49. recessed
Groove, 50. harvesting hydraulic cylinder c, 51. arc pawl hooks, 52. springs, 53. bolt e, 54. stopper slots, 55. single cutting tools, 56. additional locks
Thing block a, 57. additional lock thing block b, 58. limited impressions, 59. through holes, the hydraulic cylinder motion bar of 60. shear mechanisms, 61. bolt f,
62. connecting plate, 63. bolt g, 64. bolt h, 65, hexagon contiguous block, 66. bolt i, 67. bolt j, 68. bakelite plate a, 69.
Bakelite plate b, 70. bakelite plate c, 71 bakelite plate d, 72. bearing a, 73. bearing b, 74. harvesting hydraulic cylinder b, 75. harvestings are spacing recessed
Groove, 76. harvesting through holes, 77. scalable mechanical arms, 78. bakelite plate e.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment further illustrates：Mechanical part mainly includes fruit picking device 1, scalable machine
Tool arm 2, micromatic setting 3, lowering or hoisting gear 4 connect and compose.
Fruit picking device 1 divides hooks mechanism for Shears for picking fruit mechanism or fruit-picking-up hook.
In Shears for picking fruit mechanism：Additional lock thing block b57 is fixed on the side blade of single cutting tool 55, additional lock thing block a56
It is fixed on the opposite side blade of single cutting tool 55, the both sides blade of single cutting tool 55 is connected by bolt g63, the hydraulic cylinder of shear mechanism
Motion bar 60 and connecting plate 62 are fixed by bolt f61, and connecting plate 62 is connected by bolt with single cutting tool 55, is opened on single cutting tool 55
Limited location groove 54, the scissors angle of release of the both sides blade of single cutting tool 55 is controlled by stopper slot 54, one end of connecting tube 17 passes through spiral shell
Bolt e53 is connected with harvesting hydraulic cylinder a50, and the other end of connecting tube 17 is connected by bolt with the opposite side of single cutting tool 55；Pluck liquid
Cylinder pressure a50 connection end is provided with limited impression 58, through hole 59, and through hole 59 is connected by bolt with upper mechanical arm 46.
In fruit-picking-up hook hooks mechanism：Three arc pawl hooks 51 are connected by bolt h64 with connecting tube 26, three arc pawl hooks
51 are connected with hexagon contiguous block 65, and the hydraulic cylinder motion bar 28 of hexagon contiguous block 65 and pawl hooks mechanism connects, pawl hooks mechanism
The one end of connecting tube 26 be bolted with harvesting hydraulic cylinder b74, spring 52 is installed in connecting tube 26, plucks hydraulic cylinder
B74 connection end is provided with harvesting limited impression 75, harvesting through hole 76, and harvesting through hole 76 is connected by bolt with upper mechanical arm 46.
The scalable mechanical arm 77 of installation in the upper mechanical arm 46 of mechanical arm mechanism 2, scalable mechanical arm 77, which is provided with, to be consolidated
Determine blind hole 48, anti-skidding button 47, groove 49 are installed on upper mechanical arm 46.
So as to realize that Shears for picking fruit mechanism hooks mechanism quick change function with fruit-picking-up hook, and groove 49 can prevent picker 1
Circumferentially rotate, through hole 59 can limit its axial movement.
Eight angles of the crane 9 of lowering or hoisting gear 4 are connected by bolt b14 with eight crane sliding blocks 8, in eight liftings
The groove both sides of frame slideway base 7 are separately added into bearing a72 and bearing b73, and are connected by bolt a13 and eight crane sliding blocks 8
Connect and eight crane slideway bases 7 are uniformly fixed on bakelite plate a68 and bakelite plate b69 by bolt i66 and bolt j67, electricity
Four flange linear bearing a10 are installed on plank b69 and are bolted, and it is straight to allow four optical axis a18 to penetrate four flanges
Bobbin is held in a10, and four spacing 6 are sleeved on four optical axis a18, and four optical axis a18 are fixed by eight horizontal optical axis seats 5,
Eight horizontal optical axis seats 5 are bolted on bakelite plate a68 and bakelite plate c70, and lifting hydraulic cylinder a12 upper ends pass through long spiral shell
Bolt b16 is fixed on crane 9, and lifting hydraulic cylinder a12 lower ends are fixed on rotatable hydraulic cylinder seat a11, rotatable hydraulic cylinder
It is bolted on seat a11 on bakelite plate a68, expansion bracket central shaft stay bolt is promoted when lifting hydraulic cylinder a12 is flexible
B16 drives bakelite plate b69 to move up and down, so as to make hoistable platform realize one-level elevating function.
It is bolted in the four horizontal optical axis seat b29 and bakelite plate d71 of automatic fine tuning device 3, four horizontal light
Axle bed b29 is fixed with four optical axis b19, and four flange linear bearing b27 are bolted on bakelite plate b69, and optical axis b19 is worn
Enter in flange linear bearing b27, leading screw 21 is connected with motor 23 by shaft coupling 22, and motor 23 is fixed on electricity by motor cabinet 24
On plank d71, leading screw 21 is driven to realize automatic fine tuning function by motor 23.There are upper and lower two parts to finely tune in manual fine-tuning,
Stay bolt b31 is arranged on lower mechanical arm 35 in upper fine setting, and stay bolt b31 end is connected with U-shaped protection block 39 in upper fine setting,
Stay bolt a30 and bakelite plate d71, bakelite plate e78 are connected in lower fine setting, manually adjust up and down trimming bolt a30 and
Trimming bolt b31 can realize different harvesting angles so that harvesting is more flexible freer.Pass through anti-skidding button in upper mechanical arm 46
47 reach the retractable of mechanical arm 46 with that can fix the accurate cooperation of blind hole 48, and the upper tail end of mechanical arm 46 is welded with auxiliary and connected
Bar a42 and auxiliary connecting rod b43, and be connected by bolt d45 with the lower intermediate cam contiguous block 40 of mechanical arm 35, it can be strengthened in three-dimensional
The stability in space, lower mechanical arm 35 is combined with mechanical arm fixed seat 34 to be fixed on bakelite plate d71, and connecting rod 36 runs through lower machinery
Arm 35 is connected bearing 37, and locking block 38 is added at the both ends of connecting rod 36, and hold-down support 37 connects two assistance for lifting light
Axle c20, hydraulic cylinder b33 lower ends are connected with rotatable hydraulic cylinder seat b32, and rotatable hydraulic cylinder seat b32 is connected solid with bakelite plate e78
Fixed, rotatable hydraulic cylinder seat b32 upper end is fixed together with U-shaped contiguous block 41, U-shaped contiguous block 41 by bolt c44 with it is upper
Mechanical arm 46 is connected, and positioning harvesting is realized under the accurate cooperation of each mechanism.
Circuit-line control section, mainly by single-chip microcomputer STC89C52RC, motor drive module L298N, magnetic valve, relay
Device module YX-M01 and infrared receiving module VS1838 module compositions.
Single-chip microcomputer STC89C52RC 34-35 pins connect motor drive module L298N IN2 ends, IN1 ends, motor driving
The direct current generator M1 that module L298N Out1- Out2 terminate a 12V lifts to control two level to finely tune；Single-chip microcomputer
STC89C52RC 1-3 pin contact relay modules YX-M01 INT1-INT3 pins, magnetic valve 1, magnetic valve 2, magnetic valve 3
One end connection 220V live wire, magnetic valve 1, magnetic valve 2, magnetic valve 3 other end connection relay module YX-M01 after
Appliance wiring terminal 4, relay terminal 5 are grounded, and three relay terminals 1 connect 220V zero line, single-chip microcomputer
STC89C52RC 12 pins meet infrared receiver VS1838 signal output pin OUT, and control receives infrared command.
Between single-chip microcomputer STC89C52RC and each light current module altogether, collaborative work between module, information are advantageous to
Exchange and handle.
During work, the position of fruit is determined by personnel, by the operation of remote control unit, until fruit picking device is moved to
Near fruit.The heave amplitude of lifting platform is determined according to the distance of fruit picking device and fruit, presses the A keys of a remote control, it is infrared to connect
Single-chip microcomputer STC89C52RC is sent to after receiving module VS1838 receive informations, and single-chip microcomputer STC89C52RC 1 port exports low electricity
Flat, relay 1 works, and magnetic valve 1 works, and cylinder 1 is worked, and lifting platform carries out one-level and significantly risen.Afterwards according to specific
Situation presses the B keys of a remote control, and single-chip microcomputer STC89C52RC, monolithic are sent to after infrared receiving module VS1838 receive informations
Machine STC89C52RC 34,35 ports export low and high level, motor drive module L298N work respectively, and OUT1 exports high level,
OUT2 exports low level, and motor M1 is rotated forward, and drives leading screw to rise fine setting.The B keys of a remote control, infrared receiving module are pressed again
Send single-chip microcomputer STC89C52RC after VS1838 receive informations to, single-chip microcomputer STC89C52RC 34,35 ports export height simultaneously
Level, motor drive module L298N work, OUT1 and OUT2 export low level simultaneously, and motor 1 stops operating, and stops leading screw
Rise fine setting.The C keys of a remote control are pressed, single-chip microcomputer is sent to after infrared receiving module VS1838 receive informations
STC89C52RC, single-chip microcomputer STC89C52RC 34,35 ports export low high level respectively, and motor drive module L298N works,
OUT1 exports low level, OUT2 output high level, and motor 3 inverts, motor 3 is worked, drive leading screw to decline fine setting.One is pressed again
The C keys of secondary remote control, single-chip microcomputer STC89C52RC, single-chip microcomputer are sent to after infrared receiving module VS1838 receive informations
STC89C52RC 34,35 ports export high level, motor drive module L298N work simultaneously, and OUT1 and OUT2 is exported simultaneously
Low level, motor 3 stop operating, and make leading screw stop declining fine setting.Once fruit reaches the correct position of harvesting, by being once remotely controlled
The D keys of device, single-chip microcomputer STC89C52RC is sent to after infrared receiving module VS1838 receive informations, single-chip microcomputer STC89C52RC's
2 ports export low level, and relay 2 works, and magnetic valve 2 works, and cylinder 2 is worked, and fruit picking device works and wins fruit.Afterwards
0.5 second procedure auto-control single-chip microcomputer STC89C52RC of delay 1 port output high level, closes relay 1, magnetic valve 1 stops
Only work, cylinder 1 is stopped, one-level lifting platform declines.It is delayed again 0.5 second, single-chip microcomputer STC89C52RC1 3 ports are defeated
Go out low level, relay 3 works, and magnetic valve 3 works, and cylinder 3 is worked, 135 degree of mechanical arm back rotation.Delay 0.5 second, it is single
Piece machine STC89C52RC1 2 ports output high level, closes relay 2, and magnetic valve 2 is stopped, and cylinder 2 is stopped,
Fruit picking device is opened, and fruit is fallen into collection device.Delay 0.5 second, single-chip microcomputer STC89C52RC1 3 ports output high level, is closed
Relay 3 is closed, magnetic valve 3 is stopped, and cylinder 3 is stopped, and mechanical arm is upheld the wait of reinstatement state and plucked next time.
(1) mechanism may be provided on car body, make fruit picking device 1 by remote control adjustment car body position, plucking height and angle
Near the fruit that will be won；
(2) lifting hydraulic cylinder a12 works, and one-level lowering or hoisting gear 4 is reached preset height, conveniently connects and lower just wins fruit；
(3) drive leading screw 21 to realize fine setting up and down by motor 23, by precise positioning, reach the correct position that need to be plucked；
(4) fruit hydraulic cylinder c50 work, the arc pawl hooks 51 of fruit picking device 1 are plucked（Or single cutting tool 55 presss from both sides thing block 56）Winning fruit makes water
Fruit departs from tree body, can also prevent fruit from slipping.Now hydraulic cylinder b33 starts working, and mechanical arm 46 arrives after rotating 135 degree in drive
Fruit is discharged up to fruit picking device during collection device 1.
Claims (1)
1. a kind of multiclass fruit picker with fine setting and quick change function, it is characterised in that mechanical part mainly includes plucking
Fruit device (1), scalable mechanical arm（2）, micromatic setting（3）, lowering or hoisting gear (4）Connect and compose；
Fruit picking device (1) is divided into Shears for picking fruit mechanism or fruit-picking-up hook hooks mechanism；
In Shears for picking fruit mechanism：Additional lock thing block b（57）It is fixed on single cutting tool（55）On the blade of side, additional lock thing block a
（56）It is fixed on single cutting tool（55）On opposite side blade, single cutting tool（55）Both sides blade pass through bolt g（63）Connection, scissor machine
The hydraulic cylinder motion bar of structure（60）And connecting plate（62）Pass through bolt f（61）It is fixed, connecting plate（62）Pass through bolt and single cutting tool
（55）Connection, single cutting tool（55）On be provided with stopper slot（54）, pass through stopper slot（54）Control single cutting tool（55）Both sides blades
Scissors angle of release, connecting tube（17）One end pass through bolt e（53）With plucking hydraulic cylinder a（50）Connection, connecting tube（17）It is another
End passes through bolt and single cutting tool（55）Opposite side connects；Pluck hydraulic cylinder a（50）Connection end be provided with limited impression（58）, through hole
（59）, through hole（59）Pass through bolt and upper mechanical arm（46 connections；
In fruit-picking-up hook hooks mechanism：Three arc pawl hooks（51）Pass through bolt h（64）With the connecting tube of pawl hooks mechanism（26）Connection,
Three arc pawl hooks（51）With hexagon contiguous block（65）Connection, hexagon contiguous block（65）With the hydraulic cylinder activity of pawl hooks mechanism
Bar（28）Connection, the connecting tube of pawl hooks mechanism（26）One end and harvesting hydraulic cylinder b（74）It is bolted, the company of pawl hooks mechanism
Adapter（26）Spring is inside installed（52）, harvesting hydraulic cylinder b（74）Connection end be provided with harvesting limited impression（75）, harvesting through hole
（76）, pluck through hole（76）Pass through bolt and upper mechanical arm（46）Connection；
Mechanical arm mechanism（2）Upper mechanical arm（46）The interior scalable mechanical arm of installation（77, scalable mechanical arm（77）Being provided with can
Fixed blind hole（48）, upper mechanical arm（46）On anti-skidding button is installed（47）, groove（49）；
Lowering or hoisting gear（4）Crane（9）Eight angles pass through bolt b（14）With eight crane sliding blocks（8）Connection, at eight
Crane slideway base（7）Groove both sides be separately added into bearing a（72）With bearing b（73）, and pass through bolt a（13）Risen with eight
Frame sliding block drops（8）Connection and eight crane slideway bases（7）Pass through bolt i（66）With bolt j（67）Uniformly it is fixed on bakelite plate a
（68）With bakelite plate b（69）On, bakelite plate b（69）Four flange linear bearing a of upper installation（10）And be bolted, and allow
Four optical axis a（18）Penetrate four flange linear bearing a（10）In, four are spacing（6）It is sleeved on four optical axis a（18）On, four
Root optical axis a（18）Pass through eight horizontal optical axis seats（5）It is fixed, eight horizontal optical axis seats（5）It is bolted on bakelite plate a
（68）With bakelite plate c（70）On, lifting hydraulic cylinder a（12）Upper end passes through stay bolt b（16）It is fixed on crane（9）On, lifting
Hydraulic cylinder a（12）Lower end is fixed on rotatable hydraulic cylinder seat a（11）On, rotatable hydraulic cylinder seat a（11）On be bolted
In bakelite plate a（68）On, as lifting hydraulic cylinder a（12）Expansion bracket central shaft stay bolt b is promoted when flexible（16）Drive bakelite plate b
（69）Move up and down, so as to make hoistable platform realize one-level elevating function；
In automatic fine tuning device（3）Four horizontal optical axis seat b（29）With bakelite plate d（71）It is bolted, four horizontal
Optical axis seat b（29）It is fixed with four optical axis b（19）, bakelite plate b（69）On be bolted four flange linear bearing b
（27）, optical axis b（19）Penetrate flange linear bearing b（27）In, leading screw（21）With motor（23）Pass through shaft coupling（22）Connection, electricity
Machine（23）Pass through motor cabinet（24）It is fixed on bakelite plate d（71）On, pass through motor（23）Drive leading screw（21）Realize automatic fine tuning
Function；
There are upper and lower two parts to finely tune in manual fine-tuning, stay bolt b in upper fine setting（31）Installed in lower mechanical arm（35）On, it is upper micro-
Stay bolt b in tune（31）End and U-shaped protection block（39）Connection, stay bolt a in lower fine setting（30）With bakelite plate d（71）, electricity
Plank e（78）It is connected, manually adjusts trimming bolt a up and down（30）With trimming bolt b（31）It can realize that difference is adopted
Pluck angle so that harvesting is more flexible freer；
Upper mechanical arm（46）Tail end is welded with auxiliary connecting rod a（42）With auxiliary connecting rod b（43）, and pass through bolt d（45）With lower machine
Tool arm（35）Intermediate cam contiguous block（40）Connection, can strengthen its stability in three dimensions, lower mechanical arm（35）With mechanical arm
Fixed seat（34）With reference to being fixed on bakelite plate d（71）On, connecting rod（36）Through lower mechanical arm（35）Be connected bearing（37）, and
In connecting rod（36）Both ends add locking block（38）, hold-down support（37）Connect two assistance for lifting optical axis c（20）, hydraulic cylinder b
（33）Lower end and rotatable hydraulic cylinder seat b（32）Connection, rotatable hydraulic cylinder seat b（32）With bakelite plate e（78）It is connected, can
Rotating hydraulic cylinder seat b（32）Upper end and U-shaped contiguous block（41）It is fixed together, U-shaped contiguous block（41）Pass through bolt c（44）With
Upper mechanical arm（46）Connection；
Circuit-line control section, mainly by single-chip microcomputer STC89C52RC, motor drive module L298N, magnetic valve, relay mould
Block YX-M01 and infrared receiving module VS1838 module compositions；
Single-chip microcomputer STC89C52RC 34-35 pins connect motor drive module L298N IN2 ends, IN1 ends, motor drive module
The direct current generator M1 that L298N Out1- Out2 terminate a 12V lifts to control two level to finely tune；Single-chip microcomputer STC89C52RC's
1-3 pin contact relay modules YX-M01 INT1-INT3 pins, one end connection of magnetic valve 1, magnetic valve 2, magnetic valve 3
220V live wire, magnetic valve 1, magnetic valve 2, the other end of magnetic valve 3 connect relay module YX-M01 relay wiring end
Son 4, relay terminal 5 is grounded, and three relay terminals 1 connect 220V zero line, single-chip microcomputer STC89C52RC's
12 pins meet infrared receiver VS1838 signal output pin OUT, and control receives infrared command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711143109.0A CN107743769B (en) | 2017-11-17 | 2017-11-17 | Device is picked to multiclass fruit with fine setting and quick change function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711143109.0A CN107743769B (en) | 2017-11-17 | 2017-11-17 | Device is picked to multiclass fruit with fine setting and quick change function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107743769A true CN107743769A (en) | 2018-03-02 |
| CN107743769B CN107743769B (en) | 2020-04-24 |
Family
ID=61251089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711143109.0A Expired - Fee Related CN107743769B (en) | 2017-11-17 | 2017-11-17 | Device is picked to multiclass fruit with fine setting and quick change function |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108476732A (en) * | 2018-05-25 | 2018-09-04 | 辽宁工业大学 | Spherical fruit picker based on steering wheel manipulation |
| CN109496556A (en) * | 2018-10-11 | 2019-03-22 | 湖南科技学院 | A kind of high-altitude device for picking fruit |
| CN109964645A (en) * | 2019-04-29 | 2019-07-05 | 上海工程技术大学 | A kind of gasbag-type fruit picker |
| CN110366952A (en) * | 2019-08-23 | 2019-10-25 | 重庆市经贸中等专业学校 | A kind of miniature tracked agricultural robot |
| CN110612815A (en) * | 2019-10-31 | 2019-12-27 | 北京林业大学 | Orange picking machine |
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| JPH08337396A (en) * | 1995-06-14 | 1996-12-24 | Ishikawajima Shibaura Mach Co Ltd | Vehicle for high lift work |
| AU2005201804A1 (en) * | 2004-04-29 | 2005-11-17 | Australian Banana Harvesting Company Pty Ltd | Method and Apparatus for Harvesting Bananas |
| CN202773423U (en) * | 2012-04-13 | 2013-03-13 | 南通市广益机电有限责任公司 | Fruit picking machine |
| CN103444359A (en) * | 2013-08-30 | 2013-12-18 | 华南农业大学 | Banana picking device and picking method |
| CN205755601U (en) * | 2016-06-23 | 2016-12-07 | 海南大学 | A kind of solar energy Fructus Mangifera Indicae picking machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH08337396A (en) * | 1995-06-14 | 1996-12-24 | Ishikawajima Shibaura Mach Co Ltd | Vehicle for high lift work |
| AU2005201804A1 (en) * | 2004-04-29 | 2005-11-17 | Australian Banana Harvesting Company Pty Ltd | Method and Apparatus for Harvesting Bananas |
| CN202773423U (en) * | 2012-04-13 | 2013-03-13 | 南通市广益机电有限责任公司 | Fruit picking machine |
| CN103444359A (en) * | 2013-08-30 | 2013-12-18 | 华南农业大学 | Banana picking device and picking method |
| CN205755601U (en) * | 2016-06-23 | 2016-12-07 | 海南大学 | A kind of solar energy Fructus Mangifera Indicae picking machine |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108476732A (en) * | 2018-05-25 | 2018-09-04 | 辽宁工业大学 | Spherical fruit picker based on steering wheel manipulation |
| CN108476732B (en) * | 2018-05-25 | 2023-08-04 | 辽宁工业大学 | Quasi-spherical fruit picking device based on steering wheel control |
| CN109496556A (en) * | 2018-10-11 | 2019-03-22 | 湖南科技学院 | A kind of high-altitude device for picking fruit |
| CN109964645A (en) * | 2019-04-29 | 2019-07-05 | 上海工程技术大学 | A kind of gasbag-type fruit picker |
| CN109964645B (en) * | 2019-04-29 | 2021-10-08 | 上海工程技术大学 | Air bag type fruit picking device |
| CN110366952A (en) * | 2019-08-23 | 2019-10-25 | 重庆市经贸中等专业学校 | A kind of miniature tracked agricultural robot |
| CN110612815A (en) * | 2019-10-31 | 2019-12-27 | 北京林业大学 | Orange picking machine |
| CN110612815B (en) * | 2019-10-31 | 2024-05-24 | 北京林业大学 | Orange picking machine |
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| CN107743769B (en) | 2020-04-24 |
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