CN108633468A - Detachably stretch torsion formula fruit picking transport device and its picking method - Google Patents
Detachably stretch torsion formula fruit picking transport device and its picking method Download PDFInfo
- Publication number
- CN108633468A CN108633468A CN201810383720.9A CN201810383720A CN108633468A CN 108633468 A CN108633468 A CN 108633468A CN 201810383720 A CN201810383720 A CN 201810383720A CN 108633468 A CN108633468 A CN 108633468A
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- China
- Prior art keywords
- transport device
- picking
- fruit
- gripper
- detachably
- Prior art date
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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
- A01D46/22—Baskets or bags attachable to the picker
-
- 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
- A01D46/243—Accessories specially adapted for manual picking, e.g. ladders, carts
-
- 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
- A01D46/247—Manually operated fruit-picking tools
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
It discloses one kind and detachably stretching torsion formula fruit picking transport device and its picking method,It includes transport device (35) detachably to stretch torsion formula fruit picking transport device,The picking component and collecting part being located on the transport device (35),Picking component is rotatably disposed on transport device (35),The picking component includes mechanical arm (14) and mechanical paw,Screw rod (18) one end is via first shaft coupling (20) connection direct current generator (21),The other end is threadedly coupled inner tube (15),When direct current generator (21) drive,So that it is with outer tube (16), opposite stretch turns round movement to screw rod (18) driving inner tube (15),Mechanical paw via mechanical arm connector (13) connection mechanical arm (14) includes at least two grippers (1),Each gripper (1) includes the far finger (3) being hinged and closely refers to (4),Closely refer to (4) and is hinged on gripper chassis (5).
Description
Technical field
The present invention relates to a kind of agricultural machinery technological fields, especially a kind of detachably to stretch torsion formula fruit picking transport device
And its picking method.
Background technology
It is simple hand labor that orchard worker's fruit-picking is still mostly at present, needs manually to climb carrying fruit basket picking eminence water
Fruit, labor intensity are high.Rural laborer is mainly old aged peasants and women, and muscle power is limited, it is difficult to support highly intensive labour.So
And large-scale picking mechanical small product size is big, cost is high, is used for the picking of ultra-large, special cropping pattern, is not suitable with me substantially
Peasant household of state needs.Small-sized picker in the market, although gripping portion problem can be completed, function difference is big, very different：
It is cumbersome, a large amount of human resources are expended, causes picking efficiency low, increases labor intensity；It is low to pick precision, error rate
The fruit recognition capability of height, current picking mechanical is also to be strengthened, not only increases cost, also reduces efficiency；It picked
Fruit is susceptible to damage in journey, and every year, large quantities of fancy fruits become defect ware.
Thus, either smallholder or large-scale orchard fruit picking, all there is an urgent need for a kind of high speed is effective, storage and transportation convenient half
Seed harvester is automated, the personal demand of peasant household is met.
Disclosed above- mentioned information is used only for enhancing the understanding to background of the present invention in the background section, it is thus possible to
Including in not constituting home the prior art known to a person of ordinary skill in the art information.
Invention content
In place of solving above-mentioned the deficiencies in the prior art, the present invention provides one kind and detachably stretching torsion formula fruit picking transport dress
It sets and its picking method, can efficiently pick collection fruit.
The purpose of the present invention is be achieved by the following technical programs.
One aspect of the present invention, one kind detachably stretching torsion formula fruit picking transport device and include transport device, be located at institute
Picking component and the collecting part on transport device are stated,
Component is picked, is rotatably disposed on transport device, the picking component includes mechanical arm and manipulator
Pawl, wherein
The mechanical arm includes：
Inner tube connects the mechanical paw,
Outer tube forms prismatic pair with inner tube clearance fit,
Direct current generator is fixedly connected with the outer tube via supporting rod,
Screw rod, one end connect direct current generator via first shaft coupling, and the other end is threadedly coupled inner tube, when direct current generator drives
When dynamic, the screw drive inner tube makes its stretches opposite with outer tube turn round movement,
Via mechanical arm connector connect mechanical arm mechanical paw include：
Motor is captured, mechanical arm is connected via mechanical arm connector,
Second shaft coupling, the motor shaft of one end connection crawl motor, the other end connect leading screw,
Feed screw nut connects the leading screw,
Motor chassis, the feed screw nut disk of the fixed feed screw nut and gripper chassis are fixed by standing screw and are connected
It connects,
At least two grippers, each gripper include the far finger being hinged and closely refer to, and the nearly finger is hinged on machinery
Pawl chassis；
Collecting part comprising：
Transport channel, the opening for being arranged vertically at the transport channel of transport device are located at below gripper to input picking
Fruit,
Collection device, connection transportation channel is to collect picked fruit.
It is described it is detachable stretch torsion formula fruit picking transport device, the transport device includes the cart with castor
The set square Roller skate-board of cart is connected with via traction rope,
Cart includes：
Vertical columns, the vertical columns that component is picked for rotatable support are fixed on described push away via ring flange vertically
Vehicle, the vertical columns are equipped with column fixing piece,
Power supply, for supplying electrical power to the first and second direct current generators,
Control cabinet is used to control the first and second direct current generators；
Set square Roller skate-board comprising：
Double columns, the double columns for being used to support transport channel are fixed on vertically above set square Roller skate-board,
Castor is fixed on via set square below set square Roller skate-board.
It is described it is detachable stretch torsion formula fruit picking transport device, the outer tube rotationally connects via rotation flexural pivot
Connect vertical columns.
It is described it is detachable stretch torsion formula fruit picking transport device, the rotation flexural pivot is to be threaded in fixed stand
The flexural pivot joint of column.
It is described it is detachable stretch torsion formula fruit picking transport device, the mechanical paw includes 3 grippers, described
Mechanical paw has 6 degree of freedom.
It is described it is detachable stretch torsion formula fruit picking transport device, the mechanical paw is by poly (methyl methacrylate) plate, resin
And/or PLA material is made.
It is described it is detachable stretch torsion formula fruit picking transport device, the gripper is rotated around gripper chassis, institute
It states and is arranged flexible mould set on gripper.
It is described it is detachable stretch torsion formula fruit picking transport device, the control cabinet includes stretching rotary switch and crawl is opened
It closes.
It is described it is detachable stretch torsion formula fruit picking transport device, the direct current generator can rotate and reverse, described
Collection device is dismountable collection basket.
According to another aspect of the present invention, a kind of to utilize the detachable picking for stretching torsion formula fruit picking transport device
Method and step includes：
In first step, fruit picking transport device is advanced to precalculated position, opens power supply, and rotating machinery arm is realized complete
Space Rotating is swung to be directed at fruit, and direct current generator driving screw rod realizes that opposite stretch between inner and outer tubes turns round movement so that machine
Machinery claw is directed at fruit to be picked,
In second step, capture electric motor starting, closely refer to have degree of freedom, far finger rotational freedom it is restrained, gripper around
The rotation of gripper chassis is constrained until nearly abutment fruit by contact force, what the rotational freedom far referred to was increasing
Under driving force effect there is degree of freedom also to touch fruit until far referring to, fruit is caught and wraps in far referring to and closely referring to for gripper,
In third step, direct current generator reverse drive, mechanical arm, which is retracted and reversed, takes fruit, and crawl electric motor starting makes
It obtains mechanical paw and decontrols fruit, fruit is fallen into along transport channel in collection device, is completed picking and is collected.
The invention has the advantages that：
The present invention far refers to and closely refers to the mechanical paw combined by being arranged, and gradually packet holds together fruit, such drive lacking formula machinery
Paw can realize the not damaged crawl to fruit.And by picking fruit, collection is integrated in one with transport, really more simple
High efficiency picking work is realized in the case of easy-operating.
Above description is only the general introduction of technical solution of the present invention, in order to make the technological means of the present invention clearer
Understand, reach the degree that those skilled in the art can be implemented in accordance with the contents of the specification, and in order to allow the present invention
Above and other objects, features and advantages can be clearer and more comprehensible, below with the present invention specific implementation mode illustrate
Explanation.
Description of the drawings
By reading the detailed description in hereafter preferred embodiment, the present invention various other advantage and benefit
Those of ordinary skill in the art will become clear.Figure of description only for the purpose of illustrating preferred embodiments,
And it is not considered as limitation of the present invention.It should be evident that drawings discussed below is only some embodiments of the present invention,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings.And throughout the drawings, identical component is presented with like reference characters.
In the accompanying drawings：
Fig. 1 is the detachable structural schematic diagram for stretching torsion formula fruit picking transport device according to an embodiment of the invention；
Fig. 2 is the knot of the detachable picking component for stretching torsion formula fruit picking transport device according to an embodiment of the invention
Structure schematic diagram；
Fig. 3 is the detachable picking principle signal for stretching torsion formula fruit picking transport device according to an embodiment of the invention
Figure；
Fig. 4 is according to an embodiment of the invention using the picking method for detachably stretching torsion formula fruit picking transport device
Step schematic diagram.
The present invention is further explained below in conjunction with drawings and examples.
Specific implementation mode
Specific embodiments of the present invention are more fully described below with reference to accompanying drawings.Although showing the present invention's in attached drawing
Specific embodiment, it being understood, however, that may be realized in various forms the present invention without should be limited by embodiments set forth here
System.It is to be able to be best understood from the present invention on the contrary, providing these embodiments, and can be complete by the scope of the present invention
Be communicated to those skilled in the art.
It should be noted that having used some vocabulary in specification and claim to censure specific components.Ability
Field technique personnel it would be appreciated that, technical staff may call the same component with different nouns.This specification and right
It is required that not in such a way that the difference of noun is used as and distinguishes component, but differentiation is used as with the difference of component functionally
Criterion."comprising" or " comprising " as mentioned in working as in specification in the whole text and claim are an open language, therefore should be solved
It is interpreted into " including but not limited to ".Specification subsequent descriptions be implement the present invention better embodiment, so it is described description be with
For the purpose of the rule of specification, it is not limited to the scope of the present invention.Protection scope of the present invention is when regarding appended right
It is required that subject to institute's defender.
For ease of the understanding to the embodiment of the present invention, solved below in conjunction with attached drawing is further by taking specific embodiment as an example
Explanation is released, and each attached drawing does not constitute the restriction to the embodiment of the present invention.
In order to better understand, Fig. 1 is that detachable torsion formula fruit picking of stretching according to an embodiment of the invention transports dress
The structural schematic diagram set includes transport device 35, is located at as shown in Figure 1, one kind detachably stretching torsion formula fruit picking transport device
Picking component on the transport device 35 and collecting part,
Fig. 2 is the knot of the detachable picking component for stretching torsion formula fruit picking transport device according to an embodiment of the invention
Structure schematic diagram, picking component are rotatably disposed on transport device 35, and the picking component includes mechanical arm 14 and machinery
Paw, wherein
The mechanical arm 14 includes：
Inner tube 15 connects the mechanical paw,
Outer tube 16 forms prismatic pair with 15 clearance fit of inner tube,
Direct current generator 21 is fixedly connected with the outer tube 16 via supporting rod 19,
Screw rod 18, one end connect direct current generator 21 via first shaft coupling 20, and the other end is threadedly coupled inner tube 15, when straight
When galvanic electricity machine 21 drives, the screw rod 18 drives inner tube 15, and so that it is with outer tube 16, opposite stretch turns round movement,
Via mechanical arm connector 13 connect mechanical arm 14 mechanical paw include：
Motor 12 is captured, mechanical arm 14 is connected via mechanical arm connector 13,
Second shaft coupling 11, the motor shaft of one end connection crawl motor 12, the other end connect leading screw 6,
Feed screw nut 7 connects the leading screw 6,
Motor chassis 10, the feed screw nut disk 8 of the fixed feed screw nut 7 and gripper chassis 5 are solid by standing screw 9
Fixed connection,
At least two grippers 1, each gripper 1 includes the far finger 3 being hinged and closely finger 4, the nearly finger 4 are hinged on
Gripper chassis 5；
Collecting part comprising：
Transport channel 34, the opening for being arranged vertically at the transport channel 34 of transport device 35 are located at 1 lower section of gripper with defeated
Enter the fruit of picking,
Collection device 28, connection transportation channel 34 is to collect picked fruit.
For a further understanding of the present invention, in one embodiment, a kind of drive lacking formula fruit picking transport device, including
Mechanical paw, mechanical arm, transport device and screw hinge device.The mechanical arm connector and machine of described grabbing device one end
The inner tube of tool arm is fixed, and the outer tube part of the mechanical arm then passes through the screw hinge device and the transport device spiral shell
Line connects.
As the preferred technical solution of the present invention, the mechanical paw is by crawl motor, shaft coupling, leading screw, feed screw nut,
Mechanical paw, mechanical paw chassis, feed screw nut disk, electric disc and standing screw composition；The mechanical paw include far refer to
Closely refer to, the two is hinged, closely refers to hinged with the mechanical paw chassis.The mechanical paw chassis, the feed screw nut disk and institute
Electric disc is stated to be fixedly connected by the standing screw.The feed screw nut disk is fixed with the feed screw nut again, the leading screw
Nut connects leading screw, and the leading screw is connect further through shaft coupling with the direct current generator, and the direct current generator is packaged in the machine
In tool paw connector.
As the preferred technical solution of the present invention, the mechanical arm is by inner tube, outer tube, threaded rod, shaft coupling, supporting rod
With stretch torsion motor form, said inner tube one end is fixed with the mechanical paw connector, and the other end and the threaded rod screw thread connect
Connect, described threaded rod one end is connect by the shaft coupling with the direct current generator, the direct current generator by with the support
Bar threaded connection is fixed with the outer tube.
As the preferred technical solution of the present invention, the transport device collects basket, drag rope, triangle by cart, flange
Plate, castor, double columns, transport channel, power supply, control cabinet composition, the set square and castor are fixed with double columns, described
Double columns are fixed with the transport channel, collectively form set square Roller skate-board, are connect with the cart by the drag rope,
The collection basket is fixed on above the cart.The flange is also by the fixed vertical columns of threaded connection and cart.
As the preferred technical solution of the present invention, the screw hinge device is by flexural pivot joint, vertical columns composition, the two
It is threadedly coupled.
In the detachable preferred embodiment for stretching torsion formula fruit picking transport device of the present invention, the transport device 35
Include cart 27 with castor and connect the set square Roller skate-board 30 of cart via traction rope 29,
Cart 27 includes：
Vertical columns 23, the vertical columns 23 that component is picked for rotatable support are fixed on institute vertically via ring flange 26
Cart 27 is stated, the vertical columns 23 are equipped with column fixing piece 22,
Power supply 25, for supplying electrical power to the first and second direct current generators,
Control cabinet 24 is used to control the first and second direct current generators；
Set square Roller skate-board 30 comprising：
Double columns 33, the double columns 33 for being used to support transport channel 34 are fixed on 30 top of set square Roller skate-board vertically,
Castor 32 is fixed on 30 lower section of set square Roller skate-board via set square 31.
In the detachable preferred embodiment for stretching torsion formula fruit picking transport device of the present invention, the outer tube 16 via
Rotation flexural pivot 17 is rotatably coupled vertical columns 23.
In the detachable preferred embodiment for stretching torsion formula fruit picking transport device of the present invention, the rotation flexural pivot 17
To be threaded in the flexural pivot joint of vertical columns 23.
In the detachable preferred embodiment for stretching torsion formula fruit picking transport device of the present invention, the mechanical paw packet
3 grippers 1 are included, the mechanical paw has 6 degree of freedom.
In the detachable preferred embodiment for stretching torsion formula fruit picking transport device of the present invention, the mechanical paw by
Poly (methyl methacrylate) plate, resin and/or PLA material are made.
In the detachable preferred embodiment for stretching torsion formula fruit picking transport device of the present invention, the gripper 1 around
Gripper chassis 5 rotates, and flexible mould set 2 is arranged on the gripper 1.
In the detachable preferred embodiment for stretching torsion formula fruit picking transport device of the present invention, the control cabinet 24 wraps
It includes and stretches rotary switch and crawl switch.
In the detachable preferred embodiment for stretching torsion formula fruit picking transport device of the present invention, the direct current generator 21
It can rotate and reverse, the collection device 28 is dismountable collection basket.
The present invention is further understood, in one embodiment, Fig. 3 is according to an embodiment of the invention detachably to stretch torsion
Device is pushed into suitable position, opens power supply, manual operation whirler by the picking principle schematic of formula fruit picking transport device
Tool arm 14 realizes total space rotary oscillation, to be directed at fruit position.Mechanical arm 14 is mainly by direct current generator 21, screw rod
18, shaft coupling 20, inner tube 15, outer tube 16, the equal composition of supporting rod 19.The wherein large arm of 16 bionical human body of inner tube 15 and outer tube and small
Arm, wherein the outer tube as large arm is fixedly connected by supporting rod 19 with direct current generator 21, is not occurred with direct current generator 21 any
Relative motion, and as prismatic pair is formed by clearance fit between the inner tube of forearm 15 and outer tube 16, in direct current generator 21
Under driving, convert rotational motion is moved along a straight line by shaft coupling 20 and screw rod 18, is realized between inner tube 15 and outer tube 16
It is opposite to stretch torsion movement.
Mechanical arm is extended to fruit position, is captured using mechanical paw.The manipulator shares 6 freedom
Degree drives 3 fingers simultaneously using a crawl motor 12, completes envelope crawl, the material of entire mechanism be poly (methyl methacrylate) plate,
Resin and PLA material, installation diagram are as shown in Figure 2.Crawl motor 12 is the driving device of manipulator, with shaft coupling 11 by motor shaft
It is connected with leading screw 6, motor shaft rotation drives leading screw 6 to rotate, and due to the effect of contraction by standing screw 9, leading screw 6 rotates
Feed screw nut 7 is driven to move along a straight line with feed screw nut disk 8, to which first driving closely refers to 4 rotation, every finger has two joints,
Underactuatuated drive is constituted, only closely referring to 4 when start-up operation has freedom to work degree, and far 3 rotational freedoms of finger are restrained, entire hand
Refer to and rotated around gripper chassis 5, until closely referring to 4 contact objects, by the effect of contraction of contact seal force, the degree of freedom is by about
Beam, and far refer to and be released under the driving force effect that 3 rotational freedom is then increasing, becomes freedom to work degree, mechanism from
Still it is 1 by spending, finger can work by the determining characteristics of motion, also touch object until far referring to 3, complete crawl process.Movement
Process is as shown in Figure 3.
After the completion of crawl, only motor is needed to reversely rotate, you can similarly to drive screw rod 18, the rotation of inner tube 15 to decline, by fruit
Under being turned round from fruit tree, the picking of fruit is completed.
After the completion of picking, then manipulator's arm retracts and is directed at transport channel entrance, and release mechanism paw passes through transport
Channel 34, which is sent into, collects basket 28, and transport channel 3 is fixed on set square 31 and is moved together with trolley.Complete the picking of a panel region
Trolley is pushed to reach subsequent region afterwards.Collection basket 28 is Demountable, is convenient for changing.Collect basket 28 inner mast, one layer of foam
Sponge prevents fruit from damaging.
Fig. 4 is according to an embodiment of the invention using the picking method for detachably stretching torsion formula fruit picking transport device
Step schematic diagram, it is a kind of to include using the described detachable picking method step for stretching torsion formula fruit picking transport device：
In first step S1, fruit picking transport device is advanced to precalculated position, opens power supply 25, rotating machinery arm 14
Total space rotary oscillation is realized to be directed at fruit, it is opposite between inner tube 15 and outer tube 16 that direct current generator 21 drives screw rod 18 to realize
Stretch torsion movement so that gripper 1 is directed at fruit to be picked,
In second step S2, crawl motor 12 starts, and closely referring to 4 has degree of freedom, and far 3 rotational freedoms of finger are restrained, machine
Machinery claw 1 is rotated until closely referring to 4 contact fruit around gripper chassis 5 and is constrained by contact force, and the rotational freedom of far finger 3 exists
There is degree of freedom also to touch fruit until far referring to 3, far referring to 3 and closely referring to 4 for gripper 1 is grabbed under continuous increased driving force effect
Firmly and packet holds together fruit,
In third step S3,21 reverse drive of direct current generator, mechanical arm 14, which is retracted and reversed, takes fruit, captures motor
12 start so that mechanical paw decontrols fruit, and fruit is fallen into along transport channel 34 in collection device 28, complete picking and collect.
In one embodiment, when onsite application, device is pushed to the region for needing fruit-picking first.Open electricity
Source, rotation turn round the handle that constitutes of motor and flexural pivot joint alignment fruit to be picked by stretching, press telescoping switch, mechanical arm is stretched
It grows to fruit position.Another crawl switch is pressed, mechanical paw far refers to, and closely refers to drive lacking and catches and wrap fruit.It presses again
Rotary switch is stretched, mechanical arm, which is retracted and reversed, takes fruit.It rotates flexural pivot joint and mechanical paw is directed at transport channel entrance,
Crawl switch is pressed again, and mechanical paw decontrols fruit, and fruit falls into along transport channel and collects in basket, completes primary picking and receives
Collection.
Although embodiment of the present invention is described above in association with attached drawing, the invention is not limited in above-mentioned
Specific embodiments and applications field, above-mentioned specific embodiment are only schematical, directiveness, rather than restricted
's.Those skilled in the art are under the enlightenment of this specification and in the range for not departing from the claims in the present invention and being protected
In the case of, a variety of forms can also be made, these belong to the row of protection of the invention.
Claims (10)
1. one kind detachably stretching torsion formula fruit picking transport device comprising transport device (35) is located at the transport device
(35) the picking component on and collecting part, which is characterized in that
Component is picked, is rotatably disposed on transport device (35), the picking component includes mechanical arm (14) and machine
Tool paw, wherein
The mechanical arm (14) includes：
Inner tube (15) connects the mechanical paw,
Outer tube (16) forms prismatic pair with inner tube (15) clearance fit,
Direct current generator (21) is fixedly connected with the outer tube (16) via supporting rod (19),
Screw rod (18), one end are threadedly coupled inner tube (15) via first shaft coupling (20) connection direct current generator (21), the other end,
When direct current generator (21) drive, so that it is with outer tube (16), opposite stretch turns round movement to screw rod (18) the driving inner tube (15),
Via mechanical arm connector (13) connection mechanical arm (14) mechanical paw include：
Motor (12) is captured, mechanical arm (14) is connected via mechanical arm connector (13),
Second shaft coupling (11), the motor shaft of one end connection crawl motor (12), the other end connect leading screw (6),
Feed screw nut (7) connects the leading screw (6),
Motor chassis (10), the feed screw nut disk (8) of the fixed feed screw nut (7) and gripper chassis (5) pass through fixed spiral shell
Bar (9) is fixedly connected,
At least two grippers (1), each gripper (1) include the far finger (3) being hinged and closely refer to (4), the nearly finger (4)
It is hinged on gripper chassis (5)；
Collecting part comprising：
Transport channel (34), the opening for being arranged vertically at the transport channel (34) of transport device (35) are located at below gripper (1)
To input the fruit of picking,
Collection device (28), connection transportation channel (34) are to collect picked fruit.
2. according to claim 1 detachably stretch torsion formula fruit picking transport device, it is characterised in that：Preferably, described
Transport device (35) includes the set square Roller skate-board (30) for carrying the cart (27) of castor and connecting cart via traction rope (29),
Cart (27) includes：
Vertical columns (23), the vertical columns (23) for rotatable support picking component are fixed on vertically via ring flange (26)
The cart (27), the vertical columns (23) are equipped with column fixing piece (22),
Power supply (25), for supplying electrical power to the first and second direct current generators,
Control cabinet (24) is used to control the first and second direct current generators；
Set square Roller skate-board (30) comprising：
Double columns (33), the double columns (33) for being used to support transport channel (34) are fixed on set square Roller skate-board (30) vertically
Side,
Castor (32) is fixed on via set square (31) below set square Roller skate-board (30).
3. according to claim 2 detachably stretch torsion formula fruit picking transport device, it is characterised in that：The outer tube (16)
It is rotatably coupled vertical columns (23) via rotation flexural pivot (17).
4. according to claim 3 detachably stretch torsion formula fruit picking transport device, it is characterised in that：The rotation flexural pivot
(17) it is the flexural pivot joint for being threaded in vertical columns (23).
5. according to claim 1 detachably stretch torsion formula fruit picking transport device, it is characterised in that：The mechanical paw
Including 3 grippers (1), the mechanical paw has 6 degree of freedom.
6. according to claim 1 detachably stretch torsion formula fruit picking transport device, it is characterised in that：The mechanical paw
It is made of poly (methyl methacrylate) plate, resin and/or PLA material.
7. according to claim 1 detachably stretch torsion formula fruit picking transport device, it is characterised in that：The gripper
(1) it is rotated around gripper chassis (5), flexible mould set (2) is arranged on the gripper (1).
8. according to claim 1 detachably stretch torsion formula fruit picking transport device, it is characterised in that：The control cabinet
(24) include stretching rotary switch and crawl switch.
9. according to claim 1 detachably stretch torsion formula fruit picking transport device, it is characterised in that：The direct current generator
(21) it can rotate and reverse, the collection device (28) is dismountable collection basket.
10. a kind of detachable picking side for stretching torsion formula fruit picking transport device using described in any one of claim 1-9
Method, step include：
In first step (S1), fruit picking transport device is advanced to precalculated position, opens power supply (25), rotating machinery arm
(14) total space rotary oscillation is realized to be directed at fruit, and direct current generator (21) drives screw rod (18) to realize inner tube (15) and outer tube
(16) opposite between stretching torsion movement so that gripper (1) is directed at fruit to be picked,
In second step (S2), crawl motor (12) starts, and closely referring to (4) has degree of freedom, far refers to (3) rotational freedom by about
Beam, gripper (1) are constrained until closely referring to (4) contact fruit by contact force around gripper chassis (5) rotation, far refer to (3)
The driving force effect that is increasing of rotational freedom under there is degree of freedom also to touch fruit, gripper until far referring to (3)
(1) fruit is caught and wraps in far refer to (3) and closely refer to (4),
In third step (S3), direct current generator (21) reverse drive, mechanical arm (14), which is retracted and reversed, takes fruit, crawl electricity
Machine (12) starts so that mechanical paw decontrols fruit, and fruit is fallen into along transport channel (34) in collection device (28), completes picking
And collection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810383720.9A CN108633468A (en) | 2018-04-26 | 2018-04-26 | Detachably stretch torsion formula fruit picking transport device and its picking method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810383720.9A CN108633468A (en) | 2018-04-26 | 2018-04-26 | Detachably stretch torsion formula fruit picking transport device and its picking method |
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| CN108633468A true CN108633468A (en) | 2018-10-12 |
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| CN201810383720.9A Pending CN108633468A (en) | 2018-04-26 | 2018-04-26 | Detachably stretch torsion formula fruit picking transport device and its picking method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109392443A (en) * | 2018-12-19 | 2019-03-01 | 许昌学院 | A kind of picking method of electric fruit picker |
| CN110393084A (en) * | 2018-10-14 | 2019-11-01 | 沈阳工业大学 | A kind of double track coordinated type fruit picker |
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| CN109392443A (en) * | 2018-12-19 | 2019-03-01 | 许昌学院 | A kind of picking method of electric fruit picker |
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