CN108966828A - One kind, which is climbed tree, plucks fruit robot - Google Patents
One kind, which is climbed tree, plucks fruit robot Download PDFInfo
- Publication number
- CN108966828A CN108966828A CN201810951070.3A CN201810951070A CN108966828A CN 108966828 A CN108966828 A CN 108966828A CN 201810951070 A CN201810951070 A CN 201810951070A CN 108966828 A CN108966828 A CN 108966828A
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- China
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- mainboard
- support
- support mainboard
- torque motor
- shaft
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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
-
- 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
-
- 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)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses the picking robots that one kind can climb tree comprising five support mainboards, ten wheels, three decelerating motors, four steering engines, four torque motors, camera, mechanical arm and clipping apparatus etc..The present invention supports Robot trunk to creep, holds trunk tightly with steering engine, to provide enough tire adhesion forces, creeped upwards by three decelerating motors come three driving wheels of independent control by way of around trunk.Wide-angle camera can capture the large range of image of robot driving direction, find fruit on a large scale, then, close to fruit limb, pick fruit finally by the clipping apparatus of arm front end by the manipulator of a Three Degree Of Freedom.It can be realized and look for fruit automatically, automatically close to fruit and the function of picking.
Description
Technical field
The present invention relates to picking fields of climbing tree, and climb tree more particularly to one kind and pluck fruit robot.
Background technique
In agriculture picking field, peasant manually adopts fruit for the fruit on higher tree, with picker one by one
It plucks.Peasant first observes fruit position under tree, picker is then manually adjusted position close to fruit, then manually by branch
It is dry to cut, then fruit is picked up.Picker is often that scissors or three grab manipulator.
This Softening has certain defect, is mainly manifested in: firstly, often weather compares when fruit maturation
Heat, working environment is poor, and in fine day, hopes on tree and is easy injury eyes, is unfavorable for the health of peasant, and face upward always
Head see and be easy to cause disease, manually adjust, pick manually, allow in peasant's hand always by bigger power, work long hours meeting
Very tired out, production efficiency is very low.It directly climbs tree and picks if it is peasant, then can have very big security risk.
Summary of the invention
In order to solve problem above, the present invention, which provides one kind and climbs tree, plucks fruit robot, a kind of artificial motor-driven spirit of the machine
Living, carrying capacity it is strong climb tree and picker, can be realized the movement for being attached to trunk, it is autonomous to complete to pick fruit in the tree
Etc. functions, climb tree for this purpose, the present invention provides one kind and pluck fruit robot, including decelerating motor, support mainboard one, vehicle
Wheel, steering engine, support mainboard two, support mainboard three, support mainboard four, support mainboard five, torque motor, wide-angle camera, machinery
Arm, clipping apparatus and control unit, the support mainboard two, support mainboard three and support mainboard four are cross and preceding
It is connecting pin that both ends, which are road wheel end left and right ends, afterwards, and it is connection that the support mainboard one and support mainboard five, which are T-shaped side,
End front and back 20,000 is road wheel end, and there are support mainboard one and support mainboard two and support master in the two sides of the support mainboard three respectively
Two installation ends of plate four and support mainboard five, the support mainboard two pass through revolute pair and the installation end and branch that support mainboard one
The installation end for supportting three side of mainboard is connected, and two installation ends of the support mainboard four pass through revolute pair and the peace for supporting mainboard five
It fills end and the installation end of three other side of mainboard is supported to be connected, the support mainboard one turns with the revolute pair for supporting mainboard two to be connected
Axis is equipped with steering engine one, and the support mainboard two is equipped with steering engine two with the shaft for the revolute pair for supporting mainboard three to be connected, described
Support mainboard three is equipped with steering engine three, the support mainboard four and support mainboard with the shaft for the revolute pair for supporting mainboard four to be connected
The shaft of five connected revolute pairs is equipped with steering engine four, and the wheel is mounted on the road wheel end of corresponding support plate by shaft, respectively
The road wheel end side of support plate rear end is equipped with decelerating motor, the shaft phase of the output shaft of the decelerating motor and corresponding wheel
Even, the strong torque motor one in three middle part of support mainboard, the pedestal of the wide-angle camera are mounted on support three side of mainboard
In main body, the shaft of the torque motor one is equipped with torque motor two, described mechanical arm one end with two turns of torque motor
Axis is connected, and the mechanical arm other end is torque motor three, and the shaft of the torque motor three is equipped with clipping apparatus, each electricity
Device equipment is connected by connecting line with corresponding control unit.
Further improvement of the present invention, the steering engine are bolted with corresponding support mainboard, the shaft of the steering engine
It is connected by key with corresponding support mainboard, and is locked with fastening screw.
Further improvement of the present invention, the torque motor one and the mechanical arm and the torque motor three and institute
It states and is connected by key between clipping apparatus, and locked with fastening screw.
Further improvement of the present invention, the ring flange that the decelerating motor is connected pass through welding with corresponding support mainboard
Mode is fixed on corresponding support mainboard, and the decelerating motor is connected by bolt with corresponding support mainboard.
Further improvement of the present invention has direct current generator and planet wheel decelerator in the decelerating motor.
Further improvement of the present invention, the wide-angle camera are fixed by bolts to the branch by a plastic stent
It supports on mainboard three.
Further improvement of the present invention, the mechanical arm are made of pedestal, rocker arm and torque motor two, the torque
The main body of motor two is rigidly attached on pedestal, and the axis of rocker arm and torque motor one is connected by key, and is locked with fastening screw.
Further improvement of the present invention, the clipping apparatus include fixed shearing knife, cutting cutter and torque motor four, institute
It states four main body of torque motor to be rigidly connected in fixed shearing knife main body, the axis of the cutting cutter and torque motor four passes through key
Connection, and locked with fastening screw.
One kind of the present invention, which is climbed tree, plucks fruit robot, and a kind of climb tree plucks the robot of fruit, shares 10 wheels, wherein
3 are driving wheel, are divided into five parts, are connected from each other by revolute pair, control angle by steering engine, can be looped around trunk
On, the pressure between wheel and tree is switched to provide the adhesive force of driving wheel by the torque of steering engine.Driving wheel is by motor independence
Driving, it is ensured that overcome gravity.The position of fruit is found equipped with a camera in intermediate part, side has one three
The mechanical arm of freedom degree, arm end have a scissors to be used to cut fruit, each freedom degree and cut short movement and pass through list
Only motor driven, it is ensured that in complicated limb, manipulator is flexible enough.
Detailed description of the invention
Fig. 1 is a kind of posture figure of climbing tree of picking robot of climbing tree of the invention；
Wherein, 1, decelerating motor, 2, support mainboard one, 3, wheel, 4, steering engine one, 5, support mainboard two, 6, steering engine two, 7, support
Mainboard three, 8, steering engine three, 9, support mainboard four, 10, steering engine four, 11, support mainboard five.
Fig. 2 is a kind of picking posture figure of picking robot of climbing tree of the invention；
Wherein, 12, torque motor one, 13, torque motor two, 14, wide-angle camera, 15, mechanical arm, 16, torque motor three,
17, fixed shearing knife, 18, cutting cutter, 19 torque motors four.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing:
The present invention, which provides one kind and climbs tree, plucks fruit robot, the machine artificially a kind of maneuverability, carrying capacity it is strong climb tree and
Picker can be realized the movement for being attached to trunk, autonomous to complete to pick the functions such as fruit in the tree.
As shown in Figure 1 and Figure 2, one kind is climbed tree picking robot comprising wheel 3, support mainboard 1, support mainboard 25,
Support mainboard 37, support mainboard 49, support mainboard 5 11, decelerating motor 1, steering engine, torque motor, wide-angle camera 14, machine
Tool arm 15, clipping apparatus and control unit.It is characterized in that, the adhesion wheel is located at the support mainboard of robot
One 2, the support mainboard 37,5 11 top of the support mainboard, the driven wheel is located at below robot and the support
Mainboard 25, the top of the support mainboard 49, the support mainboard one to five (2,5,7,9,11) connect the adhesion wheel with
The driven wheel, the decelerating motor 1 are located at the driving wheel face, and the decelerating motor 1 and described control unit
Be connected, the steering engine be located at it is described support mainboard 25 and it is described support mainboard 49 revolute pair on, and the steering engine 4 with it is described
Control unit is connected, and the torque motor is located on each degree-of-freedom joint of the mechanical arm 15, and the torque motor
Be connected with described control unit, the wide-angle camera 14 is located on the support mainboard 37, and the wide-angle camera 14 with
Described control unit is connected, and the mechanical arm 15 is located on the support mainboard 37, and the clipping apparatus is located at the machinery
The end of arm 15.
Steering engine of the present invention is bolted with corresponding support mainboard, the shaft of the steering engine and corresponding support mainboard
It is connected by key, and is locked with fastening screw.
Torque motor 1 of the present invention and the mechanical arm 15 and the torque motor 3 16 and the cutting
It is connected by key between device, and is locked with fastening screw.
The ring flange that decelerating motor 1 of the present invention is connected and corresponding support mainboard are fixed on pair by welding
It should support on mainboard, the decelerating motor 1 is connected by bolt with corresponding support mainboard.
Decelerating motor 1 of the present invention includes direct current generator and planet wheel decelerator.
Wide-angle camera 14 of the present invention is fixed by bolts on the support mainboard 37 by a plastic stent.
Mechanical arm 15 of the present invention includes pedestal, rocker arm, the composition of torque motor 2 13.2 13 main body of torque motor is rigid
Property is connected on pedestal, and the axis of rocker arm and torque motor 12 is connected by key, and is locked with fastening screw.
Clipping apparatus 17-19 of the present invention includes fixed shearing knife 17, cutting cutter 18, torque motor 4 19, torque
4 19 main body of motor is rigidly connected in fixed 17 main body of shearing knife, and the axis of cutting cutter 18 and torque motor 4 19 is connected by key
It connects, and is locked with fastening screw.
Control unit of the present invention includes DC power supply, controller and conducting wire.It is bolted on the support master
On plate 37, the decelerating motor 1, the steering engine 4, the torque motor 1, the wide-angle camera are connected by conducting wire
14。
One kind provided by the invention, which can climb tree, plucks the robot of fruit, shares 10 wheels, wherein 3 are driving wheel, point
It for five parts, is connected from each other by revolute pair, angle is controlled by steering engine, can be looped around on trunk, pass through the torsion of steering engine
Square switchs to the pressure between wheel and tree to provide the adhesive force of driving wheel.Driving wheel is independently driven by motor, it is ensured that gram
Take gravity.The position of fruit is found equipped with a camera in intermediate part, there is the manipulator of a Three Degree Of Freedom on side
Arm, arm end have a scissors to be used to cut fruit, each freedom degree and cut short movement by individual motor driven, can
To guarantee in complicated limb, manipulator is flexible enough.
The above described is only a preferred embodiment of the present invention, being not the limit for making any other form to the present invention
System, and made any modification or equivalent variations according to the technical essence of the invention, still fall within present invention model claimed
It encloses.
Claims (8)
1. one kind, which is climbed tree, plucks fruit robot, including decelerating motor (1), support mainboard one (2), wheel (3), steering engine, support master
Plate two (5), support mainboard three (7), support mainboard four (9), support mainboard five (11), torque motor, wide-angle camera (14), machine
Tool arm (15), clipping apparatus and control unit, which is characterized in that the support mainboard two (5), support mainboard three (7) and
Supporting mainboard four (9) is cross and rear and front end be road wheel end left and right ends is connecting pin, the support mainboard one (2) and
It is before and after connecting pin 20,000 is road wheel end that support mainboard five (11), which is T-shaped side, the two sides point of support mainboard three (7)
There are not support mainboard one (2) and support mainboard two (5) and support mainboard four (9) and support mainboard five (11), the support master
Two installation ends of plate two (5) are by revolute pair and support the installation end of mainboard one (2) and support the installation of mainboard three (7) side
End is connected, and two installation ends of support mainboard four (9) pass through revolute pair and support the installation end and support of mainboard five (11)
The installation end of mainboard three (7) other side is connected, and support mainboard one (2) turns with the revolute pair for supporting mainboard two (5) to be connected
Axis is equipped with steering engine one (4), and support mainboard two (5) is equipped with rudder with the shaft for the revolute pair for supporting mainboard three (7) to be connected
Machine two (6), support mainboard three (7) are equipped with steering engine three (8), institute with the shaft for the revolute pair for supporting mainboard four (9) to be connected
It states support mainboard four (9) and steering engine four (10), the wheel (3) is installed with the shaft for the revolute pair for supporting mainboard five (11) to be connected
The road wheel end of corresponding support plate is mounted on by shaft, the road wheel end side of each support plate rear end is equipped with decelerating motor (1), institute
The output shaft for stating decelerating motor (1) is connected with the shaft of corresponding wheel (3), strong torque motor in the middle part of the support mainboard three (7)
One (12), the pedestal of the wide-angle camera (14) are mounted in the main body of support mainboard three (7) side, the torque motor one
(12) shaft is equipped with torque motor two (13), described mechanical arm (15) one end and torque motor two (13) shaft phase
Even, mechanical arm (15) other end is torque motor three (16), and the shaft of the torque motor three (16) is equipped with cutting
Device, each electrical equipment are connected by connecting line with corresponding control unit.
2. one kind according to claim 1, which is climbed tree, plucks fruit robot, it is characterised in that: the steering engine is led with corresponding support
Plate is bolted, and the shaft of the steering engine is connected by key with corresponding support mainboard, and is locked with fastening screw.
3. one kind according to claim 1, which is climbed tree, plucks fruit robot, it is characterised in that: the torque motor one (12) with
Be connected by key between the mechanical arm (15) and the torque motor three (16) and the clipping apparatus, and with fastening
Screw locking.
4. one kind according to claim 1, which is climbed tree, plucks fruit robot, it is characterised in that: the decelerating motor (1) is connected
The ring flange connect is fixed on by welding on corresponding support mainboard with corresponding support mainboard, and the decelerating motor (1) is logical
Bolt is crossed to be connected with corresponding support mainboard.
5. one kind according to claim 1, which is climbed tree, plucks fruit robot, it is characterised in that: have in the decelerating motor (1)
Direct current generator and planet wheel decelerator.
6. one kind according to claim 1, which is climbed tree, plucks fruit robot, it is characterised in that: the wide-angle camera (14) is logical
A plastic stent is crossed, is fixed by bolts on the support mainboard three (7).
7. one kind according to claim 1, which is climbed tree, plucks fruit robot, it is characterised in that: the mechanical arm (15) is the bottom of by
Seat, rocker arm and torque motor two (13) composition, the main body of the torque motor two (13) is rigidly attached on pedestal, rocker arm with
The axis of torque motor one (12) is connected by key, and is locked with fastening screw.
8. one kind according to claim 1, which is climbed tree, plucks fruit robot, it is characterised in that: the clipping apparatus includes fixing
Shearing knife (17), cutting cutter (18) and torque motor four (19), torque motor four (19) main body are rigidly connected in fixation
In shearing knife (17) main body, the cutting cutter (18) and the axis of torque motor four (19) are connected by key, and use fastening screw
Locking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810951070.3A CN108966828B (en) | 2018-08-21 | 2018-08-21 | Tree climbing and fruit picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810951070.3A CN108966828B (en) | 2018-08-21 | 2018-08-21 | Tree climbing and fruit picking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108966828A true CN108966828A (en) | 2018-12-11 |
| CN108966828B CN108966828B (en) | 2021-04-16 |
Family
ID=64554222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810951070.3A Active CN108966828B (en) | 2018-08-21 | 2018-08-21 | Tree climbing and fruit picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108966828B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109566084A (en) * | 2018-12-14 | 2019-04-05 | 海南大学 | A kind of automatic betel nut cropper |
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
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| KR20100025679A (en) * | 2008-08-28 | 2010-03-10 | 주식회사 거림 | Tree climbing machinery |
| CN105711672A (en) * | 2014-11-30 | 2016-06-29 | 中国科学院沈阳自动化研究所 | Walking and climbing robot based on joint coupling hand wheel mechanism |
| CN205737780U (en) * | 2016-05-13 | 2016-11-30 | 福建省泉州市第七中学 | A kind of robot capable of climbing trees |
| CN205997987U (en) * | 2016-07-12 | 2017-03-08 | 浙江工业大学 | A kind of change diameter adaptive obstacle detouring climbing robot |
| CN107416060A (en) * | 2017-05-15 | 2017-12-01 | 李建 | One kind automation bar class climbing robot |
| CN107756414A (en) * | 2017-10-25 | 2018-03-06 | 重庆工商大学 | Strawberry picking robot |
| CN108271533A (en) * | 2018-02-28 | 2018-07-13 | 浙江机电职业技术学院 | Automatic climbing picker and its picking method |
-
2018
- 2018-08-21 CN CN201810951070.3A patent/CN108966828B/en active Active
Patent Citations (8)
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|---|---|---|---|---|
| KR20100025679A (en) * | 2008-08-28 | 2010-03-10 | 주식회사 거림 | Tree climbing machinery |
| CN101356877A (en) * | 2008-09-19 | 2009-02-04 | 中国农业大学 | Cucumber picking robot system and picking method in greenhouse |
| CN105711672A (en) * | 2014-11-30 | 2016-06-29 | 中国科学院沈阳自动化研究所 | Walking and climbing robot based on joint coupling hand wheel mechanism |
| CN205737780U (en) * | 2016-05-13 | 2016-11-30 | 福建省泉州市第七中学 | A kind of robot capable of climbing trees |
| CN205997987U (en) * | 2016-07-12 | 2017-03-08 | 浙江工业大学 | A kind of change diameter adaptive obstacle detouring climbing robot |
| CN107416060A (en) * | 2017-05-15 | 2017-12-01 | 李建 | One kind automation bar class climbing robot |
| CN107756414A (en) * | 2017-10-25 | 2018-03-06 | 重庆工商大学 | Strawberry picking robot |
| CN108271533A (en) * | 2018-02-28 | 2018-07-13 | 浙江机电职业技术学院 | Automatic climbing picker and its picking method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109566084A (en) * | 2018-12-14 | 2019-04-05 | 海南大学 | A kind of automatic betel nut cropper |
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108966828B (en) | 2021-04-16 |
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