CN108481319A - A kind of fruits picking mechanical arm of agricultural robot - Google Patents
A kind of fruits picking mechanical arm of agricultural robot Download PDFInfo
- Publication number
- CN108481319A CN108481319A CN201810619126.5A CN201810619126A CN108481319A CN 108481319 A CN108481319 A CN 108481319A CN 201810619126 A CN201810619126 A CN 201810619126A CN 108481319 A CN108481319 A CN 108481319A
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- CN
- China
- Prior art keywords
- arm
- straight
- cutter
- hydraulic cylinder
- shear platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Working Measures On Existing Buildindgs (AREA)
Abstract
The invention discloses a kind of fruits picking mechanical arms of agricultural robot, including camber beam, straight-arm, picking mechanism, bindiny mechanism is equipped between the camber beam and straight-arm, the camber beam is flexibly connected with straight-arm by bindiny mechanism, the picking mechanism is in be horizontally set on one end of straight-arm, and be fixed by screws with straight-arm；The picking mechanism is made of shear platform, cutter, movable axis, the top of the shear platform is equipped with cutter and movable axis, the fruits picking mechanical arm of this kind of agricultural robot controls angle using camber beam cooperation straight-arm, so that shearing inclination is wider, it avoids not picked because tree branch blocks, practicability is stronger, picking mechanism controls cutter using travel switch simultaneously, it is actively triggered using branch, picking operation can be carried out without installing identification device, reduces the production cost of the fruits picking mechanical arm of this kind of agricultural robot.
Description
Technical field
The present invention relates to fruit picking arm technical field, the fruits picking mechanical arm of specially a kind of agricultural robot.
Background technology
China is Production of fruit big country and the largest fruit in the world country of consumption.The rapid development of fruit-growing industry is promoted
The market demand of Machinery for orchard, the fruit picking overwhelming majority in China or based on manually picking, picks operation ratio at present
More complex, seasonal very strong, if using artificial picking, not only efficiency is low, the amount of labour is big, but also be easy to cause the damage of fruit,
Therefore the development of mechanical picking is very necessary.
The fruits picking mechanical arm of existing agricultural robot, which needs that fruit is identified to carry out shearing to it, to be adopted
It plucks, therefore production cost is high, simultaneously because accurate control mechanism is more, is easy to cause mechanism to be damaged because tree branch involves
It is bad.
So how to design a kind of fruits picking mechanical arm of agricultural robot, becoming us will currently solve the problems, such as.
Invention content
The purpose of the present invention is to provide a kind of fruits picking mechanical arms of agricultural robot, to solve above-mentioned background technology
The problem of middle proposition.
To achieve the above object, the present invention provides the following technical solutions：A kind of fruits picking mechanical arm of agricultural robot,
Including camber beam, straight-arm and picking mechanism, bindiny mechanism is equipped between the camber beam and straight-arm, the camber beam passes through with straight-arm to be connect
Mechanism is flexibly connected, and the picking mechanism is in be horizontally set on one end of straight-arm, and be fixed by screws with straight-arm；It is described
Picking mechanism is made of shear platform, cutter and movable axis, and the top of the shear platform is equipped with cutter and movable axis, the work
One end of moving axis, which is run through, to be arranged in the end of cutter, and is flexibly connected with cutter, and the other end of the movable axis is perpendicular
It is arranged in the top edge position of shear platform, and is welded with shear platform, the cutter is connected with shear platform by movable axis activity
It connects, the side of the shear platform is equipped with adapting table, and the adapting table is in be horizontally set on the side wall of shear platform, and weld with shear platform
It connects, the top of the adapting table is equipped with second hydraulic cylinder, and the second hydraulic cylinder is vertical setting in the top center of adapting table
Position, and be fixed by screws with adapting table, the top of the second hydraulic cylinder is equipped with the second hydraulic stem, second liquid
The bottom end insertion of compression bar is arranged in the inside of second hydraulic cylinder, and is flexibly connected with second hydraulic cylinder, the top of the cutter
Equipped with torque arm, the torque arm is in be horizontally set on the top edge position of cutter, and welded with cutter, second hydraulic pressure
The top of bar is flexibly connected with torque arm, and the top of the shear platform is equipped with travel switch, and the travel switch insertion setting is being cut
The top edge position of platform is cut, and is fixed by screws with shear platform；The side of the camber beam is equipped with the second connector, institute
It is in be horizontally set on the side wall of camber beam, and weld with camber beam to state the second connector, and the side of the straight-arm is equipped with the first connector,
First connector is in be horizontally set on the side wall of straight-arm, and weld with straight-arm, and the side of first connector, which is equipped with, lives
Follower link, the active connection are vertical setting in the side wall of the first connector, and are welded with the first connector, described the
The side of two connectors is equipped with first hydraulic cylinder, the first hydraulic cylinder be in be horizontally set on the side wall of the second connector, and with
Second connector is fixed by screws, and the side of the first hydraulic cylinder is equipped with the first hydraulic stem, first hydraulic stem
One end insertion be arranged in the inside of first hydraulic cylinder, and be flexibly connected with first hydraulic cylinder, first hydraulic stem it is another
End is flexibly connected with the first connector by active connection.
Further, the bottom end of the cutter is equipped with corrosion-resistant finishes, and the corrosion-resistant finishes passes through with cutter
Glue bonds.
Further, the side of the shear platform is equipped with guide rod, and one end and the shear platform of the guide rod weld.
Further, the first hydraulic cylinder and second hydraulic cylinder are micro hydraulic oil cylinder, concrete model RO50*
25*122-7MPa, the bar diameter of the first hydraulic cylinder is 25mm, cylinder diameter 50mm, the bar diameter of the second hydraulic cylinder be 10mm,
Cylinder diameter is 20mm.
Further, the bottom of the camber beam is equipped with ring flange, and the ring flange is welded with camber beam.
Further, the bindiny mechanism is made of card slot, fixture block and shaft, and the card slot is in be horizontally set on straight-arm
One end, and welded with straight-arm, the fixture block is in be horizontally set on one end of camber beam, and weld with camber beam, and the fixture block insertion is set
It sets in the inside of card slot, the shaft runs through the centre position being arranged in card slot and fixture block, and the card slot and fixture block are by turning
Axis is flexibly connected.
Compared with prior art, the beneficial effects of the invention are as follows：The fruits picking mechanical arm of this kind of agricultural robot uses
Camber beam cooperation straight-arm controls angle so that and shearing inclination is wider, avoids not picked because tree branch blocks,
Practicability is stronger, while picking mechanism controls cutter using travel switch, is actively triggered using branch, without installing identification dress
Picking operation can be carried out by setting, and reduce the production cost of the fruits picking mechanical arm of this kind of agricultural robot, while also be reduced
The blade position of energy loss, cutter is equipped with corrosion-resistant finishes, can improve the durability degree of cutter, fruit juice is avoided to be infected with
It is caused to get rusty or be corroded on cutter.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the picking mechanism partial structural diagram of the present invention；
Fig. 3 is bindiny mechanism's partial enlarged view of the present invention.
In figure：1- camber beams；2- bindiny mechanisms；2-1- card slots；2-2- fixture blocks；2-3- shafts；3- straight-arms；4- picking mechanisms；
4-1- shear platforms；4-2- movable axis；4-3- torque arm；4-4- cutter；4-5- guide rods；4-6- corrosion-resistant finishes；4-7- strokes are opened
It closes；The second hydraulic stems of 4-8-；4-9- second hydraulic cylinders；4-10- adapting tables；The first connectors of 5-；6- active connections；7- first
Hydraulic stem；8- first hydraulic cylinders；The second connectors of 9-；10- ring flanges.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 3 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of fruits picking mechanical arm of agricultural robot, packet
Camber beam 1, straight-arm 3 and picking mechanism 4 are included, bindiny mechanism 2 is equipped between the camber beam 1 and straight-arm 3, the camber beam 1 is logical with straight-arm 3
The flexible connection of bindiny mechanism 2 is crossed, the picking mechanism 4 is in be horizontally set on one end of straight-arm 3, and consolidate by screw with straight-arm 3
Fixed connection；The picking mechanism 4 is made of shear platform 4-1, cutter 4-4 and movable axis 4-2, the top of the shear platform 4-1
One end equipped with cutter 4-4 and movable axis 4-2, the movable axis 4-2 through being arranged in the end of cutter 4-4, and with cut
Cutter 4-4 flexible connections, the other end of the movable axis 4-2 are vertical setting in the top edge position of shear platform 4-1, and with
Shear platform 4-1 welding, the cutter 4-4 are flexibly connected with shear platform 4-1 by movable axis 4-2, the side of the shear platform 4-1
It is in be horizontally set on the side wall of shear platform 4-1, and weld with shear platform 4-1 that face, which is equipped with adapting table 4-10, the adapting table 4-10,
The top of the adapting table 4-10 is vertical setting equipped with second hydraulic cylinder 4-9, the second hydraulic cylinder 4-9 in adapting table 4-10
Top center position, and be fixed by screws with adapting table 4-10, the top of the second hydraulic cylinder 4-9 is equipped with second
The bottom end insertion of hydraulic stem 4-8, the second hydraulic stem 4-8 are arranged in the inside of second hydraulic cylinder 4-9, and and second hydraulic cylinder
4-9 is flexibly connected, and it is in be horizontally set on cutter 4-4's that the top of the cutter 4-4, which is equipped with torque arm 4-3, the torque arm 4-3,
Top edge position, and welded with cutter 4-4, the top of the second hydraulic stem 4-8 is flexibly connected with torque arm 4-3, described
The top of shear platform 4-1 is equipped with travel switch 4-7, and the travel switch 4-7 insertions are arranged in the top edge of shear platform 4-1 position
It sets, and is fixed by screws with shear platform 4-1；The side of the camber beam 1 is equipped with the second connector 9, second connection
Part 9 is in be horizontally set on the side wall of camber beam 1, and weld with camber beam 1, and the side of the straight-arm 3 is equipped with the first connector 5, described
First connector 5 is in be horizontally set on the side wall of straight-arm 3, and weld with straight-arm 3, and the side of first connector 5, which is equipped with, lives
Follower link 6, the active connection 6 are vertical setting in the side wall of the first connector 5, and are welded with the first connector 5, institute
The side for stating the second connector 9 is equipped with first hydraulic cylinder 8, and the first hydraulic cylinder 8 is in be horizontally set on the side of the second connector 9
Wall, and be fixed by screws with the second connector 9, the side of the first hydraulic cylinder 8 is equipped with the first hydraulic stem 7, described
One end insertion of first hydraulic stem 7 is arranged in the inside of first hydraulic cylinder 8, and is flexibly connected with first hydraulic cylinder 8, described first
The other end of hydraulic stem 7 is flexibly connected with the first connector 5 by active connection 6.
Further, the bottom end of the cutter 4-4 be equipped with corrosion-resistant finishes 4-6, and the corrosion-resistant finishes 4-6 with cut
Cutter 4-4 is bonded by glue, and the corrosion-resistant finishes 4-6 can extend the service life of cutter 4-4.
Further, the one end of the side of the shear platform 4-1 equipped with guide rod 4-5, the guide rod 4-5 and shear platform 4-1
Welding, the guide rod 4-5 can facilitate the position of the capture tree branch of picking mechanism 4.
Further, the first hydraulic cylinder 8 and second hydraulic cylinder 4-9 are micro hydraulic oil cylinder, and concrete model is
RO50*25*122-7MPa, the bar diameter of the first hydraulic cylinder 8 is 25mm, cylinder diameter 50mm, the bar of the second hydraulic cylinder 4-9
Diameter is 10mm, cylinder diameter 20mm, and the first hydraulic cylinder 8 can control the angle of straight-arm 3, and the second hydraulic cylinder 4-9 can
Control cutter 4-4 liftings.
Further, the bottom of the camber beam 1 is equipped with ring flange 10, and the ring flange 10 is welded with camber beam 1, the flange
Camber beam 1 can be connect by disk 10 with picking robot ontology.
Further, the bindiny mechanism 2 is made of card slot 2-1, fixture block 2-2 and shaft 2-3, and the card slot 2-1 is in water
Flat to be arranged in one end of straight-arm 3, and welded with straight-arm 3, the fixture block 2-2 is in be horizontally set on one end of camber beam 1, and and camber beam
1 welding, the fixture block 2-2 insertions are arranged in the inside of card slot 2-1, and the shaft 2-3 is through setting in card slot 2-1 and fixture block 2-
2 centre position, and the card slot 2-1 is flexibly connected with fixture block 2-2 by shaft 2-3, the bindiny mechanism 2 can improve curved
Flexibility between beam 1 and straight-arm 3.
Operation principle：First, staff fills the fruits picking mechanical arm of this kind of agricultural robot by ring flange 10
It is loaded on picking robot, robot controls the angle of straight-arm 3 by first hydraulic cylinder 8, and picking mechanism 4 is stretched to fruit
Branch, when picking mechanism 4 touches branch, branch is imported cutter 4-4 and knife bar by cutter 4-4 cooperation guide rod 4-5
Between 4-5, robot controls the fruits picking mechanical arm of this kind of agricultural robot to extension, and branch is moved to the directions shear platform 4-1
It is dynamic, travel switch 4-7 can be touched in moving process and is triggered, and second hydraulic cylinder 4-9 starts to work and drives the at this time
Two hydraulic stem 4-8 decline, and the second hydraulic stem 4-8 can drive torque arm 4-3 to decline during declining, and the other end of torque arm 4-3 with
Cutter 4-4 connections, therefore can also drive one end of cutter 4-4 to decline during torque arm 4-3 declines, cutter 4-4 cooperations
Shear platform 4-1 shears branch, and realization carries out picking operation to fruit.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of fruits picking mechanical arm of agricultural robot, including camber beam (1), straight-arm (3) and picking mechanism (4), feature
It is：Bindiny mechanism (2) is equipped between the camber beam (1) and straight-arm (3), the camber beam (1) passes through bindiny mechanism with straight-arm (3)
(2) it is flexibly connected, the picking mechanism (4) is in be horizontally set on one end of straight-arm (3), and be screwed with straight-arm (3)
Connection；The picking mechanism (4) is made of shear platform (4-1), cutter (4-4) and movable axis (4-2), the shear platform (4-
1) top is equipped with cutter (4-4) and movable axis (4-2), and one end of the movable axis (4-2), which is run through, to be arranged in cutter (4-
4) end, and be flexibly connected with cutter (4-4), the other end of the movable axis (4-2) is vertical setting in shear platform (4-
1) top edge position, and welded with shear platform (4-1), the cutter (4-4) pass through movable axis with shear platform (4-1)
(4-2) is flexibly connected, and the side of the shear platform (4-1) is equipped with adapting table (4-10), and the adapting table (4-10) sets in level
The side wall in shear platform (4-1) is set, and is welded with shear platform (4-1), the top of the adapting table (4-10) is equipped with the second hydraulic pressure
Cylinder (4-9), the second hydraulic cylinder (4-9) are vertical setting in the top center position of adapting table (4-10), and and adapting table
(4-10) is fixed by screws, and the top of the second hydraulic cylinder (4-9) is equipped with the second hydraulic stem (4-8), and described second
The bottom end insertion setting of hydraulic stem (4-8) is flexibly connected in the inside of second hydraulic cylinder (4-9), and with second hydraulic cylinder (4-9),
The top of the cutter (4-4) is equipped with torque arm (4-3), and the torque arm (4-3) is in the top for being horizontally set on cutter (4-4)
Marginal position, and welded with cutter (4-4), the top of second hydraulic stem (4-8) is flexibly connected with torque arm (4-3), institute
The top for stating shear platform (4-1) is equipped with travel switch (4-7), and the travel switch (4-7) is embedded to be arranged in shear platform (4-1)
Top edge position, and be fixed by screws with shear platform (4-1)；The side of the camber beam (1) is equipped with the second connector
(9), second connector (9) is in be horizontally set on the side wall of camber beam (1), and weld with camber beam (1), the straight-arm (3)
Side is equipped with the first connector (5), first connector (5) be in be horizontally set on the side walls of straight-arm (3), and with straight-arm (3)
Welding, the side of first connector (5) are equipped with active connection (6), and the active connection (6) is vertical setting the
The side wall of a connection piece (5), and welded with the first connector (5), the side of second connector (9) is equipped with first hydraulic cylinder
(8), the first hydraulic cylinder (8) is in be horizontally set on the side wall of the second connector (9), and pass through spiral shell with the second connector (9)
Silk is fixedly connected, and the side of the first hydraulic cylinder (8) is equipped with the first hydraulic stem (7), and one end of first hydraulic stem (7) is embedding
Enter setting be flexibly connected in the inside of first hydraulic cylinder (8), and with first hydraulic cylinder (8), first hydraulic stem (7) it is another
End is flexibly connected with the first connector (5) by active connection (6).
2. a kind of fruits picking mechanical arm of agricultural robot according to claim 1, it is characterised in that：The cutter
The bottom end of (4-4) is equipped with corrosion-resistant finishes (4-6), and the corrosion-resistant finishes (4-6) and cutter (4-4) are viscous by glue
It closes.
3. a kind of fruits picking mechanical arm of agricultural robot according to claim 1, it is characterised in that：The shear platform
The side of (4-1) is equipped with guide rod (4-5), and one end and the shear platform (4-1) of the guide rod (4-5) weld.
4. a kind of fruits picking mechanical arm of agricultural robot according to claim 1, it is characterised in that：First liquid
Cylinder pressure (8) and second hydraulic cylinder (4-9) are micro hydraulic oil cylinder, concrete model RO50*25*122-7MPa, and described first
The bar diameter of hydraulic cylinder (8) is 25mm, cylinder diameter 50mm, and the bar diameter of the second hydraulic cylinder (4-9) is 10mm, cylinder diameter 20mm.
5. a kind of fruits picking mechanical arm of agricultural robot according to claim 1, it is characterised in that：The camber beam
(1) bottom is equipped with ring flange (10), and the ring flange (10) is welded with camber beam (1).
6. a kind of fruits picking mechanical arm of agricultural robot according to claim 1, it is characterised in that：The connection machine
Structure (2) is made of card slot (2-1), fixture block (2-2) and shaft (2-3), and the card slot (2-1) is in be horizontally set on straight-arm (3)
One end, and welded with straight-arm (3), the fixture block (2-2) is in be horizontally set on one end of camber beam (1), and weld with camber beam (1),
The embedded setting of the fixture block (2-2) is in the inside of card slot (2-1), and the shaft (2-3) is through setting in card slot (2-1) and fixture block
The centre position of (2-2), and the card slot (2-1) is flexibly connected with fixture block (2-2) by shaft (2-3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810619126.5A CN108481319A (en) | 2018-06-15 | 2018-06-15 | A kind of fruits picking mechanical arm of agricultural robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810619126.5A CN108481319A (en) | 2018-06-15 | 2018-06-15 | A kind of fruits picking mechanical arm of agricultural robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108481319A true CN108481319A (en) | 2018-09-04 |
Family
ID=63342737
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810619126.5A Pending CN108481319A (en) | 2018-06-15 | 2018-06-15 | A kind of fruits picking mechanical arm of agricultural robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108481319A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111604876A (en) * | 2020-05-07 | 2020-09-01 | 南京航创特种机器人有限公司 | Special hydraulic wrist of industrial robot |
| CN111937593A (en) * | 2020-09-11 | 2020-11-17 | 广西师范大学 | Double-screw-driven automatic mulberry leaf picking machine |
| CN111937585A (en) * | 2020-09-11 | 2020-11-17 | 广西师范大学 | Mulberry twig stirring and positioning device for automatic mulberry leaf picking machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201252748Y (en) * | 2008-09-17 | 2009-06-10 | 程军 | Movable pruning vehicle |
| CN202335241U (en) * | 2011-10-28 | 2012-07-18 | 华南农业大学 | Mechanical sensing picker |
| KR101441807B1 (en) * | 2013-05-13 | 2014-09-17 | 이상규 | Apparatus for harvesting fruits |
| CN206760170U (en) * | 2017-05-30 | 2017-12-19 | 张家港市华新园艺工程有限公司 | A kind of Gao Zhiju |
-
2018
- 2018-06-15 CN CN201810619126.5A patent/CN108481319A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201252748Y (en) * | 2008-09-17 | 2009-06-10 | 程军 | Movable pruning vehicle |
| CN202335241U (en) * | 2011-10-28 | 2012-07-18 | 华南农业大学 | Mechanical sensing picker |
| KR101441807B1 (en) * | 2013-05-13 | 2014-09-17 | 이상규 | Apparatus for harvesting fruits |
| CN206760170U (en) * | 2017-05-30 | 2017-12-19 | 张家港市华新园艺工程有限公司 | A kind of Gao Zhiju |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111604876A (en) * | 2020-05-07 | 2020-09-01 | 南京航创特种机器人有限公司 | Special hydraulic wrist of industrial robot |
| CN111937593A (en) * | 2020-09-11 | 2020-11-17 | 广西师范大学 | Double-screw-driven automatic mulberry leaf picking machine |
| CN111937585A (en) * | 2020-09-11 | 2020-11-17 | 广西师范大学 | Mulberry twig stirring and positioning device for automatic mulberry leaf picking machine |
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Application publication date: 20180904 |