CN108464116B - Circumferential multi-station fruit shearing and picking robot - Google Patents
Circumferential multi-station fruit shearing and picking robot Download PDFInfo
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- CN108464116B CN108464116B CN201810422871.0A CN201810422871A CN108464116B CN 108464116 B CN108464116 B CN 108464116B CN 201810422871 A CN201810422871 A CN 201810422871A CN 108464116 B CN108464116 B CN 108464116B
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- rod
- telescopic
- shearing
- circumferential
- pull rod
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- 238000010008 shearing Methods 0.000 title claims abstract description 84
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 62
- 230000033001 locomotion Effects 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 4
- 235000011511 Diospyros Nutrition 0.000 abstract description 3
- 241000723267 Diospyros Species 0.000 abstract description 3
- 241000220324 Pyrus Species 0.000 abstract description 3
- 235000021016 apples Nutrition 0.000 abstract description 3
- 235000021017 pears Nutrition 0.000 abstract description 3
- 244000141359 Malus pumila Species 0.000 abstract 1
- 238000009434 installation Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 241000220225 Malus Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Classifications
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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
- A01D46/24—Devices for picking apples or like fruit
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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
- A01D46/20—Platforms with lifting and lowering devices
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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
- A01D46/22—Baskets or bags attachable to the picker
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a handheld picking robot, in particular to a circumferential multi-station shearing fruit picking robot which is suitable for fruit picking equipment such as apples, oranges, pears, persimmons and the like. A circumferential multi-station fruit picking robot comprises a circumferential multi-station shearing device, a telescopic rod mechanism, a shearing power mechanism and a fruit collecting sleeve; the upper end of the telescopic rod mechanism is connected with a circumferential multi-station shearing device, and the shearing power mechanism is arranged on the telescopic rod mechanism; the circumferential multi-station shearing device is provided with a fruit collecting sleeve. The invention can realize high-efficiency fruit picking and reduce the picking cost.
Description
Technical Field
The invention relates to a hand-held picking robot which is suitable for fruit picking equipment such as apples, oranges, pears, persimmons and the like.
Background
The fruits such as apples, oranges, pears, persimmons and the like are picked by manual hands, the efficiency is low, and the picking rate is low. Large-scale equipment is difficult to spread on hillsides.
Disclosure of Invention
In order to solve the problems, the invention discloses a circumferential multi-station shearing fruit picking robot which can realize efficient fruit picking and reduce picking cost.
In order to achieve the above purpose, the technical scheme of the invention is as follows: a circumferential multistation shearing fruit picking robot which is characterized in that: the circumferential multi-station shearing fruit picking robot comprises a circumferential multi-station shearing device, a telescopic rod mechanism, a shearing power mechanism and a fruit collecting sleeve; the upper end of the telescopic rod mechanism is connected with a circumferential multi-station shearing device, and the shearing power mechanism is arranged on the telescopic rod mechanism; a fruit collecting sleeve is arranged on the circumferential multi-station shearing device;
The circumferential multi-station shearing device consists of a circular moving coil and a fixed coil, wherein the moving coil is arranged on the outer side of the fixed coil, and the moving coil can rotate relative to the fixed coil; a plurality of first band-guide blades are circumferentially arranged on the fixed ring, a plurality of second band-guide blades are circumferentially arranged on the moving ring, and the directions of the first band-guide blades and the second band-guide blades are opposite; when the movable coil rotates, the second guided blade on the movable coil and the corresponding first guided blade on the fixed coil are arranged in a crossed manner to form a shearing knife;
The telescopic rod mechanism comprises a telescopic tube and a supporting tube, and the telescopic tube is connected with the fixed ring through a rod piece fixing piece and the supporting rod; the lower end of the telescopic tube is arranged in the supporting tube, and the height of the telescopic tube can be adjusted;
The motion output end of the shearing power mechanism is connected with the connecting rod and forms a revolute pair; the connecting rod is connected with the moving coil and forms a revolute pair; and the motion output end of the shearing power mechanism drives the moving coil to rotate relative to the fixed coil through the connecting rod.
Preferably, the shearing power mechanism comprises an electric push rod body, the electric push rod body is fixed on the telescopic pipe through an electric push rod bracket, and the electric push rod telescopic rod is connected with the fixed ring through a connecting rod; the connecting rod and the telescopic rod, the connecting rod and the moving coil respectively form a revolute pair; the electric push rod telescopic rod, the connecting rod, the fixed ring and the moving ring form a crank sliding block mechanism, and when the electric push rod telescopic rod moves, the moving ring is driven to rotate.
Preferably, the shearing power mechanism comprises an upper pull rod and a lower pull rod; the upper pull rod is arranged in the telescopic pipe, a plurality of holes are formed in the telescopic pipe, a boss is arranged on the upper pull rod, and the boss corresponds to the positions of the telescopic pipe holes; the lower pull rod is arranged in the support tube, the head part of the lower pull rod is provided with a groove, the upper end in the support tube is provided with a hole, the hole at the upper end in the support tube corresponds to the position of the groove, and the groove of the lower pull rod is matched with the boss on the upper pull rod; a positioning sleeve is arranged on the supporting tube, and a positioning elastic adjusting handle is arranged on the positioning sleeve; when the adjusting rod is needed to be adjusted for a long time, the positioning elastic adjusting handle is pressed down, the pin at the front end of the positioning elastic adjusting handle is lifted, the hole of the telescopic pipe corresponds to the hole of the supporting pipe, the positioning elastic adjusting handle is put down, the pin at the front end of the positioning elastic adjusting handle passes through the hole of the supporting pipe and the hole of the telescopic pipe and props against the upper pull rod, and the boss of the upper pull rod is embedded into the groove at the head part of the lower pull rod; when the lower pull rod moves, the upper pull rod is driven to move.
Preferably, the lower pull rod is connected with the grip handle through a grip connecting rod; the handle and the support tube, the handle and the handle connecting rod respectively form a revolving pair, the lower pull rod and the handle connecting rod form a revolving pair, and the lower pull rod and the support tube form a moving pair; when the handle is rotated, the pull-down rod is driven to generate pulling force and vertical displacement, and a spring is arranged between the handle and the support tube.
Preferably, the telescopic pipe is connected with the supporting pipe through an elastic connecting piece, the lower end of the elastic connecting piece is provided with a supporting pipe mounting hole, the supporting pipe is mounted in the supporting pipe mounting hole, the upper end of the elastic connecting piece is provided with a telescopic pipe mounting hole, the telescopic pipe is mounted in the telescopic pipe mounting hole, and the elastic connecting piece, the supporting pipe, the elastic connecting piece and the telescopic pipe are respectively locked through corresponding bolts.
Preferably, a plurality of balls are arranged between the movable ring and the fixed ring; a plurality of horizontal pins are arranged on the moving ring, and the inner ends of the horizontal pins are arranged in the horizontal grooves of the circumference Xiang Shui of the fixed ring.
Preferably, the picking robot further comprises an image display part, the image display part comprises a camera and a mobile phone, the camera is connected to the upper end of the telescopic rod mechanism through a camera support, a camera power supply device is connected to the upper end of the telescopic rod mechanism through a power supply device support, and the camera power supply device supplies power to the camera through a power line; the mobile phone is connected to the middle lower end of the telescopic rod mechanism through a mobile phone support; the camera communicates with the mobile phone.
Preferably, a plurality of circular rings are arranged in the fruit collecting sleeve from top to bottom, and elastic ribs are arranged on the circular rings; the circumference border of retainer plate has a plurality of circumference aperture, and fruit collection sleeve passes through circumference aperture to be connected on the retainer plate.
Preferably, the outer edge of the fixed ring is provided with a circumferential groove, the moving ring is arranged in the circumferential groove, and a plurality of balls are arranged between the inner side wall of the moving ring and the inner side wall of the circumferential groove; a plurality of balls are arranged between the bottom of the moving coil and the bottom plate of the circumferential groove.
Compared with the prior art, the invention has the following beneficial effects:
The invention relates to a circumferential multi-station shearing fruit picking robot which comprises a circumferential multi-station shearing device, a telescopic rod part, a shearing power part, an image display part and a fruit collecting sleeve with buffering.
Circumferential multi-station shearing device: the circumferential multi-station shearing device consists of a circular moving coil and a circular fixed coil; the moving coil and the fixed coil are respectively fixed with a plurality of blades with guide strips in the circumferential direction; a plurality of balls are arranged between the moving coil and the fixed coil so as to reduce friction; the movable ring is provided with a plurality of horizontal pins, and the horizontal pins are arranged in the circumferential and horizontal grooves of the fixed ring to play a role in limiting and guiding. The periphery of the fixing ring is provided with a plurality of small holes for installing the fruit collecting sleeve with buffer. The retainer plate is installed at the telescopic link end, circumference multistation shearing mechanism and bracing piece fixed connection, and the member mounting is together bracing piece and telescopic link mechanism upper end fixed. When the moving coil rotates relatively to the fixed coil, the blades fixed on the circumferences of the moving coil and the fixed coil generate relative shearing movement, so that fruits are sheared into the moving coil and fall through the fruit collecting sleeve with the buffer.
A telescopic rod: the lower pull rod is arranged in the support tube, the upper end in the support tube is provided with a hole, the corresponding position of the hole at the upper end in the support tube is provided with a groove at the head part of the lower pull rod; the upper pull rod is arranged in the telescopic pipe, a plurality of small holes are formed in the telescopic pipe, and a boss is arranged on the upper pull rod at the position corresponding to the small holes of the telescopic pipe; the positioning sleeve is arranged at the outer side of the upper end of the supporting tube, and is provided with a positioning elastic adjusting handle; when the adjusting rod is needed to be adjusted for a long time, the positioning elastic adjusting handle is pressed down, the small hole of the telescopic pipe corresponds to the small hole of the supporting pipe, the positioning elastic adjusting handle is put down, the pin at the front end of the positioning elastic adjusting handle props against the upper pull rod through the small hole of the supporting pipe and the small hole of the telescopic pipe, and the boss of the upper pull rod is embedded into the head part of the lower pull rod to form a groove. When the lower pull rod moves, the upper pull rod is driven to move.
Shearing power part: the rod piece mechanism can be driven by a human hand to generate vertical displacement and power; the electromagnetic valve can also generate vertical displacement and power.
An image display section: the camera transmits the picture to the screen of the mobile phone in real time through wifi. The camera can be powered by a battery or a charger; the camera, battery/treasured that charges, the cell-phone is all fixed on the telescopic link.
Buffered fruit collection sleeve: the elastic rib is arranged on the periphery of the fixing ring, a plurality of circular rings are arranged in the sleeve, the elastic rib is arranged on the circular rings, the circular rings are made of light rigid materials, and the elastic rib is arranged on the circular rings made of light rigid materials, so that the tightness of the elastic rib can be kept.
The fruit collecting sleeve with buffer is provided with a plurality of elastic elements which are fixed on the inner wall of the sleeve and staggered at a certain angle. The falling fruits are sheared, and when the collecting sleeve falls, the falling fruits are blocked by the elastic element, so that the falling kinetic energy is absorbed and slowly falls.
The invention relates to a description of overall motion transmission of a circumferential multi-station shearing fruit picking robot, which comprises the following steps:
Scheme 1, electric push rod scheme: the electric push rod body is fixed on the telescopic pipe through the electric push rod support, and four components of the telescopic rod, the connecting rod, the moving coil and the fixed coil of the electric push rod form a typical crank slide block mechanism, and when the electric push rod (equivalent to a slide block) moves, the moving coil (equivalent to a crank) is driven to rotate. The telescopic pipe is connected with the supporting pipe through an elastic connecting piece, a hole with a larger diameter is formed in the lower end of the elastic connecting piece, the supporting pipe is arranged in the hole, and a bolt on the right side of the lower end of the elastic connecting piece is used for locking the supporting pipe; the upper end of the elastic connecting piece is provided with a hole with a small diameter, the telescopic pipe is arranged in the hole, the bolt on the right side of the upper end of the elastic connecting piece is used for locking the telescopic pipe, and when the bolt is loosened, the position of the telescopic pipe in the supporting pipe can be adjusted.
Scheme 2, the manual driving grip handle generates power. The handle, the handle connecting rod, the lower pull rod and the supporting tube form a crank slide block mechanism, wherein the handle, the supporting tube and the connecting rod form a revolving pair respectively, the lower pull rod and the connecting rod form a revolving pair, and the lower pull rod and the supporting tube form a moving pair. When the grip handle rotates (corresponding to a crank), the pull-down rod (corresponding to a sliding block) is driven to generate pulling force and vertical displacement. A spring is arranged between the rotation of the grip handle and the supporting tube so as to reset.
Drawings
FIG. 1 is a schematic view of the overall structure of a circumferential multi-station shearing fruit picking robot of the present invention;
FIG. 2 is a schematic cross-sectional view of a circumferential multi-station shearing device of the circumferential multi-station shearing fruit picking robot of the present invention;
FIG. 3 is a schematic top view of a circumferential multi-station shearing device of the circumferential multi-station shearing fruit picking robot of the present invention;
Fig. 4 is a schematic structural view of the circumferential multi-station shearing fruit picking robot (the shearing power mechanism is an electric push rod);
FIG. 5 is a schematic view of the resilient connecting element of FIG. 4;
Fig. 6 is a schematic structural diagram of the circumferential multi-station fruit picking robot (the shearing power mechanism is a handle crank slide block structure);
FIG. 7 is a schematic structural view of a grip handle slider-crank structure of the circumferential multi-station shearing fruit picking robot of the invention;
FIG. 8 is a schematic view of the structure of a fruit collection sleeve of the circumferential multi-station shearing fruit picking robot of the present invention;
In the figure: 1. the shearing machine comprises a circumferential multi-station shearing device, 1-2-1, a first blade with guide, 1-2-2, a second blade with guide, 1-3, a fixed ring, 1-4, a movable ring, 1-5, a ball, 1-6, a circumferential small hole, 1-7, a horizontal pin, 1-8, a connecting rod, 1-9, a supporting rod, 2-1, a telescopic pipe, 2-2, a positioning elastic adjusting handle, 2-3, a positioning sleeve, 2-4, a supporting pipe, 2-6, an upper pull rod, 2-10, a lower pull rod, 3-1, a camera, 3-2, a camera support, 3-3, a power supply device support, 3-4, a power supply device, 3-5, a mobile phone, 3-6, a mobile phone support, 4-1, a fruit collecting sleeve, 4-2, a circular ring, 4-3, an elastic rib, 5, a handle, 5-1, a connecting rod, a handle, 6, a rod fixing piece, 7-1, an electric push rod telescopic rod, 7-2, an electric push rod support, 7-3, an electric push rod, 7-5, an electric push rod and an elastic piece.
Detailed Description
As shown in fig. 1-8, a circumferential multi-station shearing fruit picking robot comprises a circumferential multi-station shearing device 1, a telescopic rod mechanism, a shearing power mechanism and a fruit collecting sleeve 4-1; the upper end of the telescopic rod mechanism is connected with the circumferential multi-station shearing device 1, and the shearing power mechanism is arranged on the telescopic rod mechanism; the circumferential multi-station shearing device 1 is provided with a fruit collecting sleeve 4-1.
The circumferential multi-station shearing device 1 consists of a circular moving coil 1-4 and a fixed coil 1-3, wherein the moving coil 1-4 is arranged outside the fixed coil 1-3, and the moving coil 1-4 can rotate relative to the fixed coil 1-3; a plurality of first band-guided blades 1-2-1 are circumferentially arranged on the fixed ring 1-3, a plurality of second band-guided blades 1-2-2 are circumferentially arranged on the movable ring 1-4, and the first band-guided blades 1-2-1 and the second band-guided blades 1-2-2 are opposite in orientation; when the movable coil 1-4 rotates, the second band-guided blades 1-2-2 on the movable coil 1-4 are crossed with the corresponding first band-guided blades 1-2-1 on the fixed coil 1-3 to form a shearing knife.
The telescopic rod mechanism comprises a telescopic tube 2-1 and a supporting tube 2-4, and the telescopic tube 2-1 is connected with the fixed ring 1-3 through a rod piece fixing piece 6 and a supporting rod 1-9; the lower end of the telescopic tube 2-1 is arranged in the supporting tube 2-4, and the height of the telescopic tube 2-1 is adjustable.
The motion output end of the shearing power mechanism is connected with the connecting rods 1-8 and forms a revolute pair; the connecting rod 1-8 is connected with the moving coil 1-4 and forms a revolute pair; the motion output end of the shearing power mechanism, the connecting rod 1-8, the moving coil 1-4 and the fixed coil 1-3 form a crank block transmission structure, the motion output end of the shearing power mechanism generates vertical displacement, and the motion output end of the shearing power mechanism drives the moving coil 1-4 to rotate relative to the fixed coil 1-3 through the connecting rod 1-8.
As shown in fig. 4 and 5, the shearing power mechanism comprises an electric push rod body 7-3, the electric push rod body 7-3 is fixed on the telescopic pipe 2-1 through an electric push rod bracket 7-2, and the electric push rod telescopic rod 7-1 is connected with the fixed ring 1-3 through a connecting rod 1-8; the connecting rod 1-8 and the telescopic rod 7-1, the connecting rod 1-8 and the moving coil 1-4 respectively form a revolute pair; the electric push rod telescopic rod 7-1, the connecting rod 1-8, the fixed ring 1-3 and the moving ring 1-4 form a crank slide block mechanism, and when the electric push rod telescopic rod 7-1 moves, the moving ring 1-4 is driven to rotate.
As shown in fig. 6 and 7, the shearing power mechanism comprises an upper pull rod 2-6 and a lower pull rod 2-10; the upper pull rod 2-6 is arranged in the telescopic pipe 2-1, a plurality of holes are formed in the telescopic pipe 2-6, a boss is arranged on the upper pull rod 2-6, and the boss corresponds to the position of the hole of the telescopic pipe 2-6; the lower pull rod 2-10 is arranged in the supporting tube 2-4, the head of the lower pull rod 2-10 is provided with a groove, the upper end in the supporting tube 2-4 is provided with a hole, the hole at the upper end in the supporting tube 2-4 corresponds to the position of the groove, and the groove of the lower pull rod 2-10 is matched with a boss on the upper pull rod 2-6;
The supporting tube 2-4 is provided with a positioning sleeve 2-3, and the positioning sleeve 2-3 is provided with a positioning elastic adjusting handle 2-2; when the adjusting rod is needed to be adjusted for a long time, the positioning elastic adjusting handle 2-2 is pressed down, the pin at the front end of the positioning elastic adjusting handle 2-2 is lifted, the hole of the telescopic pipe 2-1 corresponds to the hole of the supporting pipe 2-4, the positioning elastic adjusting handle 2-2 is put down, the pin at the front end of the positioning elastic adjusting handle 2-2 passes through the hole of the supporting pipe 2-4 and the hole of the telescopic pipe 2-1 and props against the upper pull rod 2-6, and the boss of the upper pull rod 2-6 is embedded into the groove at the head of the lower pull rod 2-10; when the lower pull rod 2-10 moves, the upper pull rod 2-6 is driven to move.
The lower pull rod 2-10 is connected with the grip handle 5 through a grip connecting rod 5-1; the handle 5 and the support tube 2-4, the handle 5 and the handle connecting rod 5-1 form a revolving pair respectively, the lower pull rod 2-10 and the handle connecting rod 5-1 form a revolving pair, and the lower pull rod 2-10 and the support tube 2-4 form a moving pair; when the grip handle 5 rotates, the pull-down rod 2-10 is driven to generate pulling force and vertical displacement, and a spring is arranged between the grip handle 5 and the support tube 2-4.
The telescopic pipe 2-1 is connected with the supporting pipe 2-4 through an elastic connecting piece 7-5, a supporting pipe installation hole is formed in the lower end of the elastic connecting piece 7-5, the supporting pipe 2-4 is installed in the supporting pipe installation hole, a telescopic pipe installation hole is formed in the upper end of the elastic connecting piece 7-5, the telescopic pipe 2-1 is installed in the telescopic pipe installation hole, and the elastic connecting piece 7-5 and the supporting pipe 2-4 and the elastic connecting piece 7-5 and the telescopic pipe 2-1 are respectively locked through corresponding bolts.
A plurality of balls 1-5 are arranged between the moving coil 1-4 and the fixed coil 1-3; the movable ring 1-4 is provided with a plurality of horizontal pins 1-7, and the inner ends of the horizontal pins 1-7 are arranged in the circumferential horizontal grooves of the fixed ring 1-3.
The picking robot further comprises an image display part, the image display part comprises a camera 3-1 and a mobile phone 3-5, the camera 3-1 is connected to the upper end of the telescopic rod mechanism through a camera support 3-2, a camera power supply device 3-4 is connected to the upper middle end of the telescopic rod mechanism through a power supply device support 3-3, and the camera power supply device 3-4 supplies power to the camera 3-1 through a power line; the mobile phone 3-5 is connected to the middle lower end of the telescopic rod mechanism through a mobile phone bracket 3-6; the camera 3-1 communicates with the mobile phone 3-5.
A plurality of circular rings 4-2 are arranged in the fruit collecting sleeve 4-1 from top to bottom, and elastic ribs 4-3 are arranged on the circular rings 4-2; the circumferential edge of the fixing ring 1-3 is provided with a plurality of circumferential small holes 1-6, and the fruit collecting sleeve 4-1 is connected to the fixing ring 1-3 through the circumferential small holes 1-6.
The outer edge of the fixed ring 1-3 is provided with a circumferential groove, the movable ring 1-4 is arranged in the circumferential groove, and a plurality of balls are arranged between the inner side wall of the movable ring 1-4 and the inner side wall of the circumferential groove; a plurality of balls are arranged between the bottoms of the moving coils 1-4 and the bottom plate of the circumferential groove.
Circumferential multi-station shearing device: the circumferential multi-station shearing device consists of a circular moving coil and a circular fixed coil; the moving coil and the fixed coil are respectively fixed with a plurality of blades with guide strips in the circumferential direction; a plurality of balls are arranged between the moving coil and the fixed coil so as to reduce friction; the movable ring is provided with a plurality of horizontal pins, and the horizontal pins are arranged in the circumferential and horizontal grooves of the fixed ring to play a role in limiting and guiding. The periphery of the fixing ring is provided with a plurality of small holes for installing the fruit collecting sleeve with buffer. The retainer plate is installed at the telescopic link end, circumference multistation shearing mechanism and bracing piece fixed connection, and the member mounting is together bracing piece and telescopic link mechanism upper end fixed. When the moving coil rotates relatively to the fixed coil, the blades fixed on the circumferences of the moving coil and the fixed coil generate relative shearing movement, so that fruits are sheared into the moving coil and fall through the fruit collecting sleeve with the buffer.
A telescopic rod: the lower pull rod is arranged in the support tube, the upper end in the support tube is provided with a hole, the corresponding position of the hole at the upper end in the support tube is provided with a groove at the head part of the lower pull rod; the upper pull rod is arranged in the telescopic pipe, a plurality of small holes are formed in the telescopic pipe, and a boss is arranged on the upper pull rod at the position corresponding to the small holes of the telescopic pipe; the positioning sleeve is arranged at the outer side of the upper end of the supporting tube, and is provided with a positioning elastic adjusting handle; when the adjusting rod is needed to be adjusted for a long time, the positioning elastic adjusting handle is pressed down, the small hole of the telescopic pipe corresponds to the small hole of the supporting pipe, the positioning elastic adjusting handle is put down, the pin at the front end of the positioning elastic adjusting handle props against the upper pull rod through the small hole of the supporting pipe and the small hole of the telescopic pipe, and the boss of the upper pull rod is embedded into the head part of the lower pull rod to form a groove. When the lower pull rod moves, the upper pull rod is driven to move.
Shearing power part: the rod piece mechanism can be driven by a human hand to generate vertical displacement and power; the electromagnetic valve can also generate vertical displacement and power.
An image display section: the camera transmits the picture to the screen of the mobile phone in real time through wifi. The camera can be powered by a battery or a charger; the camera, battery/treasured that charges, the cell-phone is all fixed on the telescopic link.
Buffered fruit collection sleeve: the elastic rib is arranged on the periphery of the fixing ring, a plurality of circular rings are arranged in the sleeve, the elastic rib is arranged on the circular rings, the circular rings are made of light rigid materials, and the elastic rib is arranged on the circular rings made of light rigid materials, so that the tightness of the elastic rib can be kept.
The fruit collecting sleeve with buffer is provided with a plurality of elastic elements which are fixed on the inner wall of the sleeve and staggered at a certain angle. The falling fruits are sheared, and when the collecting sleeve falls, the falling fruits are blocked by the elastic element, so that the falling kinetic energy is absorbed and slowly falls.
The invention relates to a description of overall motion transmission of a circumferential multi-station shearing fruit picking robot, which comprises the following steps:
Scheme 1, electric push rod scheme: as shown in fig. 4 and 5, the electric push rod body is fixed on the telescopic tube through the electric push rod bracket, and four components of the telescopic rod, the connecting rod, the moving coil and the fixed coil of the electric push rod form a typical crank slide block mechanism, and when the electric push rod (equivalent to a slide block) moves, the moving coil (equivalent to a crank) is driven to rotate. The telescopic pipe is connected with the supporting pipe through an elastic connecting piece, a hole with a larger diameter is formed in the lower end of the elastic connecting piece, the supporting pipe is arranged in the hole, and a bolt on the right side of the lower end of the elastic connecting piece is used for locking the supporting pipe; the upper end of the elastic connecting piece is provided with a hole with a small diameter, the telescopic pipe is arranged in the hole, the bolt on the right side of the upper end of the elastic connecting piece is used for locking the telescopic pipe, and when the bolt is loosened, the position of the telescopic pipe in the supporting pipe can be adjusted.
Scheme 2, the manual driving grip handle generates power. As shown in fig. 6 and 7, the handle connecting rod, the pull-down rod and the support tube form a crank slide block mechanism, wherein the handle, the support tube and the connecting rod form a revolving pair, the pull-down rod and the connecting rod form a revolving pair, and the pull-down rod and the support tube form a moving pair. When the grip handle rotates (corresponding to a crank), the pull-down rod (corresponding to a sliding block) is driven to generate pulling force and vertical displacement. A spring is arranged between the rotation of the grip handle and the supporting tube so as to reset.
Claims (7)
1. A circumferential multistation shearing fruit picking robot which is characterized in that: the circumferential multi-station shearing fruit picking robot comprises a circumferential multi-station shearing device (1), a telescopic rod mechanism, a shearing power mechanism and a fruit collecting sleeve (4-1); the upper end of the telescopic rod mechanism is connected with a circumferential multi-station shearing device (1), and the shearing power mechanism is arranged on the telescopic rod mechanism; a fruit collecting sleeve (4-1) is arranged on the circumferential multi-station shearing device (1);
the circumferential multi-station shearing device (1) consists of a circular moving coil (1-4) and a fixed coil (1-3), wherein the moving coil (1-4) is arranged on the outer side of the fixed coil (1-3), and the moving coil (1-4) can rotate relative to the fixed coil (1-3); a plurality of first band-oriented blades (1-2-1) are circumferentially arranged on the fixed ring (1-3), a plurality of second band-oriented blades (1-2-2) are circumferentially arranged on the movable ring (1-4), and the first band-oriented blades (1-2-1) and the second band-oriented blades (1-2-2) are opposite in orientation; when the movable coil (1-4) rotates, the second guided blades (1-2-2) on the movable coil (1-4) are crossed with the corresponding first guided blades (1-2-1) on the fixed coil (1-3) to form a shearing knife;
The telescopic rod mechanism comprises a telescopic tube (2-1) and a supporting tube (2-4), and the telescopic tube (2-1) is connected with the fixed ring (1-3) through a rod piece fixing piece (6) and a supporting rod (1-9); the lower end of the telescopic tube (2-1) is arranged in the supporting tube (2-4), and the height of the telescopic tube (2-1) can be adjusted;
The motion output end of the shearing power mechanism is connected with the connecting rods (1-8) and forms a revolute pair; the connecting rod (1-8) is connected with the moving coil (1-4) and forms a revolute pair; the motion output end of the shearing power mechanism, the connecting rod (1-8), the moving coil (1-4) and the fixed coil (1-3) form a crank slide block transmission structure, the motion output end of the shearing power mechanism generates vertical displacement, and the motion output end of the shearing power mechanism drives the moving coil (1-4) to rotate relative to the fixed coil (1-3) through the connecting rod (1-8);
The shearing power mechanism comprises an electric push rod body (7-3), the electric push rod body (7-3) is fixed on the telescopic pipe (2-1) through an electric push rod bracket (7-2), and the electric push rod telescopic rod (7-1) is connected with the fixed ring (1-3) through a connecting rod (1-8); the connecting rod (1-8) and the telescopic rod (7-1), the connecting rod (1-8) and the moving coil (1-4) respectively form a revolute pair; the electric push rod telescopic rod (7-1), the connecting rod (1-8), the fixed ring (1-3) and the moving ring (1-4) form a crank slide block mechanism, and when the electric push rod telescopic rod (7-1) moves, the moving ring (1-4) is driven to rotate;
The shearing power mechanism comprises an upper pull rod (2-6) and a lower pull rod (2-10); the upper pull rod (2-6) is arranged in the telescopic pipe (2-1), a plurality of holes are formed in the telescopic pipe (2-1), a boss is arranged on the upper pull rod (2-6), and the boss corresponds to the position of the hole of the telescopic pipe (2-1); the lower pull rod (2-10) is arranged in the supporting tube (2-4), the head of the lower pull rod (2-10) is provided with a groove, the upper end in the supporting tube (2-4) is provided with a hole, the hole at the upper end in the supporting tube (2-4) corresponds to the position of the groove, and the groove of the lower pull rod (2-10) is matched with a boss on the upper pull rod (2-6);
A positioning sleeve (2-3) is arranged on the supporting tube (2-4), and a positioning elastic adjusting handle (2-2) is arranged on the positioning sleeve (2-3); when the adjusting rod is needed to be adjusted for a long time, the positioning elastic adjusting handle (2-2) is pressed down, the pin at the front end of the positioning elastic adjusting handle (2-2) is lifted, the hole of the telescopic pipe (2-1) corresponds to the hole of the supporting pipe (2-4), the positioning elastic adjusting handle (2-2) is put down, the pin at the front end of the positioning elastic adjusting handle (2-2) passes through the hole of the supporting pipe (2-4), the hole of the telescopic pipe (2-1) and props against the upper pull rod (2-6), and the boss of the upper pull rod (2-6) is embedded into the groove at the head part of the lower pull rod (2-10); when the lower pull rod (2-10) moves, the upper pull rod (2-6) is driven to move.
2. The circumferential multi-station shearing fruit picking robot as defined in claim 1, wherein the lower pull rod (2-10) is connected with the grip handle (5) through a grip connecting rod (5-1); the handle (5) and the support tube (2-4), the handle (5) and the handle connecting rod (5-1) form a revolving pair respectively, the lower pull rod (2-10) and the handle connecting rod (5-1) form a revolving pair, and the lower pull rod (2-10) and the support tube (2-4) form a moving pair; when the handle (5) rotates, the pull-down rod (2-10) is driven to generate pulling force and vertical displacement, and a spring is arranged between the handle (5) and the support tube (2-4).
3. The circumferential multi-station shearing fruit picking robot as claimed in any one of claims 1-2, wherein the telescopic tube (2-1) is connected with the support tube (2-4) through an elastic connecting piece (7-5), a support tube mounting hole is formed in the lower end of the elastic connecting piece (7-5), the support tube (2-4) is mounted in the support tube mounting hole, a telescopic tube mounting hole is formed in the upper end of the elastic connecting piece (7-5), the telescopic tube (2-1) is mounted in the telescopic tube mounting hole, and the elastic connecting piece (7-5) and the support tube (2-4), the elastic connecting piece (7-5) and the telescopic tube (2-1) are respectively locked through corresponding bolts.
4. A circumferential multi-station shearing fruit picking robot as defined in claim 3, wherein a plurality of balls (1-5) are installed between the moving coil (1-4) and the fixed coil (1-3); a plurality of horizontal pins (1-7) are arranged on the moving coil (1-4), and the inner ends of the horizontal pins (1-7) are arranged in the circumferential horizontal grooves of the fixed coil (1-3).
5. The circumferential multi-station shearing fruit picking robot as claimed in claim 1, further comprising an image display part, wherein the image display part comprises a camera (3-1) and a mobile phone (3-5), the camera (3-1) is connected to the upper end of the telescopic rod mechanism through a camera bracket (3-2), a camera power supply device (3-4) is connected to the upper end of the telescopic rod mechanism through a power supply device bracket (3-3), and the camera power supply device (3-4) supplies power to the camera (3-1) through a power line; the mobile phone (3-5) is connected to the middle lower end of the telescopic rod mechanism through a mobile phone bracket (3-6); the camera (3-1) is communicated with the mobile phone (3-5).
6. The circumferential multi-station shearing fruit picking robot as claimed in claim 4, wherein a plurality of circular rings (4-2) are arranged in the fruit collecting sleeve (4-1) from top to bottom, and elastic ribs (4-3) are arranged on the circular rings (4-2); the circumferential edge of the fixed ring (1-3) is provided with a plurality of circumferential small holes (1-6), and the fruit collecting sleeve (4-1) is connected to the fixed ring (1-3) through the circumferential small holes (1-6).
7. The circumferential multi-station shearing fruit picking robot as claimed in claim 6, wherein the outer edge of the fixed ring (1-3) is provided with a circumferential groove, the movable ring (1-4) is arranged in the circumferential groove, and a plurality of balls are arranged between the inner side wall of the movable ring (1-4) and the inner side wall of the circumferential groove; a plurality of balls are arranged between the bottom of the moving coil (1-4) and the bottom of the circumferential groove.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810422871.0A CN108464116B (en) | 2018-05-05 | 2018-05-05 | Circumferential multi-station fruit shearing and picking robot |
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| CN201810422871.0A CN108464116B (en) | 2018-05-05 | 2018-05-05 | Circumferential multi-station fruit shearing and picking robot |
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| CN108464116B true CN108464116B (en) | 2024-08-30 |
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| CN208490263U (en) * | 2018-05-05 | 2019-02-15 | 乔玉兰 | A kind of circumferential direction multistation shearing fruit picking robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB191305900A (en) * | 1912-03-11 | 1913-09-11 | Carl Bauer | Improvements in Fruit Pickers. |
| CN106332604A (en) * | 2016-10-13 | 2017-01-18 | 天津恺丰义科技有限公司 | Electric picking device |
| CN206237825U (en) * | 2016-10-13 | 2017-06-13 | 天津恺丰义科技有限公司 | A kind of fruit picking |
| CN206948935U (en) * | 2017-07-17 | 2018-02-02 | 三峡大学 | A kind of hand cherry picking mechanism |
| CN107593110A (en) * | 2017-11-10 | 2018-01-19 | 广东工业大学 | A kind of fruit picker |
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| CN208490263U (en) * | 2018-05-05 | 2019-02-15 | 乔玉兰 | A kind of circumferential direction multistation shearing fruit picking robot |
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