CN109997515A - A kind of cones of Pinus koraiensis picking mechanical arm - Google Patents
A kind of cones of Pinus koraiensis picking mechanical arm Download PDFInfo
- Publication number
- CN109997515A CN109997515A CN201910294337.0A CN201910294337A CN109997515A CN 109997515 A CN109997515 A CN 109997515A CN 201910294337 A CN201910294337 A CN 201910294337A CN 109997515 A CN109997515 A CN 109997515A
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- China
- Prior art keywords
- arm
- cones
- connect
- clamping
- driving
- 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
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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
- A01D46/005—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs picking or shaking pneumatically
-
- 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
Abstract
The present invention relates to agricultural mechanical equipment fields, disclose a kind of cones of Pinus koraiensis picking mechanical arm, including support frame (1), lifting arm (2), telescopic arm (3) and end effector (4), support frame includes connecting plate (11) and at least two root posts (12), connecting plate (11) is fixed between column (12) and column (12), connecting plate (11) is equipped with sliding block (13) and first hydraulic cylinder (15), it is connect in the middle part of telescopic arm (3) with sliding block (13), telescopic arm (3) one end is connect with lifting arm (2), telescopic arm (3) other end is connect with end effector (4)；End effector (4) includes luffing mechanism (41) and clamping device (42), clamping device (42) is connect with luffing mechanism (41), and luffing mechanism (41) is connect with telescopic arm (3).Picking mechanical arm structure of the invention is simple, can satisfy the movement of 3 freedom degrees, considerably increases working range.
Description
Technical field
The present invention relates to agricultural mechanical equipment fields, more particularly to a kind of cones of Pinus koraiensis picking mechanical arm.
Background technique
Currently, the picking of cones of Pinus koraiensis still climbs to tree above and picking by Simple scissors or similarly by manpower
Tool carries out cone Collecting operation.Because again cone acquisition zone is with a varied topography, have inconvenient traffic, cones of Pinus koraiensis is tied in treetop portion (tree
High 20 meters or so), not only labor intensity of workers is big for this operation mode, and production efficiency is low, and more important is operational securities
Difference, during annual autumn cones of Pinus koraiensis Collecting operation, even lethal cases of causing injury happen occasionally；Meanwhile it excessively beaing, cutting
Branch causes great damage to tree management, and it is solid to seriously affect next year.
For reduce pick difficulty, improve picking efficiency, also occur Cone picking equipment now, such as application No. is
201521001022.6, in the patent of entitled pinecone picking machine, be arranged with crawler it is telescopic elevate arm, elevate
Arm front end is provided with hanging basket, and picking personnel station rises to certain altitude by elevating arm, utilize buckle in hanging basket when operation
Stock hooks pine nut, significantly stock is pulled to shut down pine nut.Since the operating space of hanging basket is very limited, and the tree of pine nut tree
The tip needs to pull the quite long section shifting of stock that could shut down Pinus koraiensis than more flexible, and holds stock hand for a long time
Arm is also easy to tire out, and influences picking efficiency.
Summary of the invention
The present invention picks the disadvantage that the degree of automation is low, picking efficiency is not high for cones of Pinus koraiensis in the prior art, provides
A kind of cones of Pinus koraiensis picking mechanical arm.The effect of picking cones of Pinus koraiensis can be improved in cones of Pinus koraiensis picking mechanical arm of the invention
Rate can make worker realize the picking of cones of Pinus koraiensis in the case where not contacting cones of Pinus koraiensis, ensure that peace when worker's picking
Full problem also improves the working condition of worker.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals:
A kind of cones of Pinus koraiensis picking mechanical arm, including support frame, lifting arm, telescopic arm and end effector, wherein support
Frame includes connecting plate and at least two root posts, connecting plate are fixed between column and column, and connecting plate is equipped with sliding block and first
Hydraulic cylinder, first hydraulic cylinder is for driving sliding block to slide；It is connect in the middle part of telescopic arm with sliding block, telescopic arm one end and lifting arm connect
It connects, the telescopic arm other end is connect with end effector；End effector includes luffing mechanism and clamping device, clamping device with bow
Mechanism connection is faced upward, luffing mechanism is connect with telescopic arm；Luffing mechanism includes actuator arm, and actuator arm and telescopic arm connect
It connects, actuator arm two sides are equipped with expansion sleeve, and expansion sleeve is equipped with wrist motor, and wrist motor is for driving actuator arm real
Now flexion-extension acts；Clamping device includes gripper, is equipped with broached-tooth design on the inside of gripper.
Stretching motion may be implemented in telescopic arm of the invention, and telescopic arm is connect with lifting arm, can also realize telescopic arm
Pitching movement, telescopic arm are connect with sliding block, can also realize the horizontal movement of telescopic arm, therefore, lifting arm, telescopic arm and sliding block
The spherical coordinate of cones of Pinus koraiensis picking mechanical hands movement of the invention is constituted, allows the cones of Pinus koraiensis picking mechanical arm real
The movement of existing 3 freedom degrees, considerably increases actuating range, required when can greatly realize picking using simple structure
Working space.
Luffing mechanism refers to that end effector wrist can be rotated in perpendicular, adopts to cones of Pinus koraiensis
The position that end effector is adjusted when plucking, can increase the adaptability of end effector.Pitching motion refers to that end executes
The actuator arm of device can be rotated in perpendicular, and rotation is realized by wrist motor using expansion sleeve connecting shaft.
This kind of drive structure is simple, lighter weight.
In order not to damage cones of Pinus koraiensis, plastic sheath is cased on broached-tooth design.
Preferably, connecting plate is equipped with sliding rail, sliding block and sliding rail are cooperatively connected.
Preferably, lifting arm includes the first fixed arm, the first lever arm and first driving device, the first lever arm is embedded in
In first fixed arm, for first driving device for driving the lifting of the first lever arm, the first lever arm outer wall is equipped with the first guide rail, the
One fixed arm inner wall is equipped with the first idler wheel cooperated with the first guide rail, and the first idler wheel moves up and down in the first guide rail.
Preferably, telescopic arm includes the second fixed arm, the second lever arm and the second driving device, the second lever arm is embedded in
In second fixed arm, for the second driving device for driving the second lever arm flexible, the second lever arm outer wall is equipped with the second guide rail, the
Two fixed arm inner walls are equipped with the second idler wheel cooperated with the second guide rail, and the second idler wheel moves in the second guide rail.
As further preferred, first driving device and the second driving device are motor or hydraulic cylinder or cylinder.
Preferably, clamping device includes clamping arm, two grippers, clamping arm is respectively set in clamping arm two sides
Two ipsilateral grippers are arranged symmetrically, and spring is equipped between two ipsilateral grippers of clamping arm, and clamping arm is equipped with
Second hydraulic cylinder, second hydraulic cylinder is for driving gripper to open or be closed.
When picking, the piston rod of hydraulic cylinder is moved forward, so that gripper be pushed to open, is determined after firmly grasping cones of Pinus koraiensis,
Piston rod is retracted, and clamps cones of Pinus koraiensis using the tensile force of spring；When clamping device does not work, spring closes gripper automatically
It closes.The present invention reduces the loss of energy using the structure of this spring self-lock.
Preferably, luffing mechanism further includes rotating electric machine, rotating electric machine connects with clamping arm and actuator arm respectively
It connects, rotating electric machine is located between actuator arm and clamping arm, and rotating electric machine is for driving clamping device to rotate.
The present invention is due to using above technical scheme, with significant technical effect:
Cones of Pinus koraiensis picking mechanical arm of the invention it is low in cost, structure is simple, utilizes lifting arm, telescopic arm and sliding block
Between cooperation, can satisfy the movement of 3 freedom degrees, make the working range of cones of Pinus koraiensis picking mechanical arm shape in space
At a sphere, working range is considerably increased；Although the present invention is compact to design, occupy little space, its working range is big, energy
The picking demand for meeting the cones of Pinus koraiensis of different tree height and forest road, can substantially reduce the risk of picking operation, mention
High efficiency reduces labor intensity.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the side view of support frame.
Fig. 3 is the structural schematic diagram of lifting arm.
Fig. 4 is the structural schematic diagram of telescopic arm.
Fig. 5 is the structural schematic diagram of end effector.
The toponym that each number designation is referred in attached drawing is as follows: 1-support frame, 11-connecting plates, 12-columns,
13-sliding blocks, 14-sliding rails, 15-first hydraulic cylinders, 2-lifting arms, the 21-the first fixed arm, the 22-the first lever arm,
23-first driving devices, the 24-the first guide rail, the 25-the first idler wheel, 3-telescopic arms, the 31-the second fixed arm, 32-the second
Lever arm, the 33-the second driving device, the 34-the second guide rail, the 35-the second idler wheel, 4-end effectors, 41-pitching machines
Structure, 411-actuator arms, 412-rotating electric machines, 413-expansion sleeves, 42-clamping devices, 421-clamping arms, 422-
Gripper, 423-second hydraulic cylinders, 424-springs, 425-broached-tooth designs.
Specific embodiment
Present invention is further described in detail with embodiment with reference to the accompanying drawing.
Embodiment 1
A kind of cones of Pinus koraiensis picking mechanical arm, as shown in Figs. 1-5, including support frame 1, lifting arm 2, telescopic arm 3 and end
Actuator 4, wherein support frame includes connecting plate 11 and two root posts 12, connecting plate 11 be fixed on column 12 and column 12 it
Between, connecting plate 11 is equipped with sliding block 13 and first hydraulic cylinder 15, and first hydraulic cylinder 15 is for driving sliding block 13 to slide；Telescopic arm 3
Middle part is connect with sliding block 13, and 3 one end of telescopic arm is connect with lifting arm 2, and 3 other end of telescopic arm is connect with end effector 4；End
Actuator 4 includes luffing mechanism 41 and clamping device 42, and clamping device 42 connect with luffing mechanism 41, luffing mechanism 41 with stretch
Arm 3 connects；Luffing mechanism 41 includes actuator arm 411, and actuator arm 411 is connect with telescopic arm 3, actuator arm 411
Two sides are equipped with expansion sleeve 413, and expansion sleeve 413 is equipped with wrist motor, and wrist motor is for driving the realization of actuator arm 411 to face upward
It bows movement；Clamping device 42 includes gripper 422, is equipped with broached-tooth design 425 on the inside of gripper 422.
Connecting plate 11 is equipped with sliding rail 14, and sliding block 13 and sliding rail 14 are cooperatively connected.
Lifting arm 2 includes the first fixed arm 21, the first lever arm 22 and first driving device 23, and the first lever arm 22 is embedded in
In first fixed arm 21, for first driving device 23 for driving the lifting of the first lever arm 22,22 outer wall of the first lever arm is equipped with the
One guide rail 24,21 inner wall of the first fixed arm are equipped with the first idler wheel 25 cooperated with the first guide rail 24, and the first idler wheel 25 is led first
It is moved up and down in rail 24.
Telescopic arm 3 includes the second fixed arm 31, the second lever arm 32 and the second driving device 33, and the second lever arm 32 is embedded in
In second fixed arm 31, the second driving device 33 is flexible for driving the second lever arm 32, and 32 outer wall of the second lever arm is equipped with the
Two guide rails 34,31 inner wall of the second fixed arm are equipped with the second idler wheel 35 cooperated with the second guide rail 34, and the second idler wheel 35 is led second
It is moved in rail 34.
First driving device 23 and the second driving device 33 are hydraulic cylinder.
Clamping device 42 includes clamping arm 421, and two grippers 422 are respectively set in 421 two sides of clamping arm, clamps hand
Two ipsilateral grippers 422 of arm 421 are arranged symmetrically, and spring is equipped between two ipsilateral grippers 422 of clamping arm 421
424, clamping arm 421 is equipped with second hydraulic cylinder 423, and second hydraulic cylinder 423 is for driving gripper 422 to open or be closed.
Luffing mechanism 41 further includes rotating electric machine 412, rotating electric machine 412 respectively with clamping arm 421 and actuator arm
411 connections, rotating electric machine 412 are located between actuator arm 411 and clamping arm, and rotating electric machine 412 is for driving clamping machine
Structure 42 rotates.
Embodiment 2
With embodiment 1, except that in the present embodiment: lifting arm and telescopic arm are using rectangle steel as material, rectangle steel
It is made of single piece skeleton made of aluminum alloy, intensity of aluminum alloy is big and density is small, and controllability is preferable, while both can be used as lifting
The load bearing frame of arm and telescopic arm, and can be used as the fulcrum bearing of the second driving device and third driving device.
The model 95BC340A stepper motor of wrist motor, the model 45BF003 stepper motor of rotating electric machine.
The working index of the cones of Pinus koraiensis picking mechanical arm of the present embodiment: telescopic arm is 15 ° in the sphere of action of horizontal plane
~165 °, be -20 °~20 ° in the sphere of action of perpendicular, and telescopic arm uses telescopic fashion, and maximum brachium is 1.5m, maximum
Load is 6kg；Working space radius of sphericity is 1.5m；End effector localization machine angular speed is 2rad/s, clamping device rotation
Angular speed is 5rad/s, and it is 2.5rad/s that end effector gripper, which clamps speed,；The revolving speed of rotating electric machine and wrist motor is
At the uniform velocity, 15r/min.
Embodiment 3
With embodiment 1, the difference is that being cased on the broached-tooth design 425 of the present embodiment in order not to damage cones of Pinus koraiensis
Plastic sheath；First driving device 23 and the second driving device 33 are motor.
Embodiment 4
With embodiment 1, the difference is that first driving device 23 and the second driving device 33 are gas in the present embodiment
Cylinder.
In short, the foregoing is merely presently preferred embodiments of the present invention, it is all according to equalization made by scope of the present invention patent
Variation and modification, shall all be covered by the patent of the invention.
Claims (7)
1. a kind of cones of Pinus koraiensis picking mechanical arm, including support frame (1), lifting arm (2), telescopic arm (3) and end effector
(4), it is characterised in that: support frame includes connecting plate (11) and at least two root posts (12), connecting plate (11) are fixed on column
(12) between column (12), connecting plate (11) is equipped with sliding block (13) and first hydraulic cylinder (15), and first hydraulic cylinder (15) is used
It is slided in driving sliding block (13)；It being connect in the middle part of telescopic arm (3) with sliding block (13), telescopic arm (3) one end is connect with lifting arm (2),
Telescopic arm (3) other end is connect with end effector (4)；End effector (4) includes luffing mechanism (41) and clamping device
(42), clamping device (42) is connect with luffing mechanism (41), and luffing mechanism (41) is connect with telescopic arm (3)；Luffing mechanism (41)
Including actuator arm (411), actuator arm (411) is connect with telescopic arm (3), and actuator arm (411) two sides are equipped with swollen
Fixed (413), expansion sleeve (413) are equipped with wrist motor, and wrist motor is moved for driving actuator arm (411) to realize to pitch
Make；Clamping device (42) includes gripper (422), is equipped with broached-tooth design (425) on the inside of gripper (422).
2. a kind of cones of Pinus koraiensis picking mechanical arm according to claim 1, it is characterised in that: connecting plate (11), which is equipped with, to be slided
Rail (14), sliding block (13) and sliding rail (14) are cooperatively connected.
3. a kind of cones of Pinus koraiensis picking mechanical arm according to claim 1, it is characterised in that: lifting arm (2) includes first
Fixed arm (21), the first lever arm (22) and first driving device (23), the first lever arm (22) are embedded in the first fixed arm (21)
Interior, for first driving device (23) for driving the first lever arm (22) lifting, the first lever arm (22) outer wall is equipped with the first guide rail
(24), the first fixed arm (21) inner wall is equipped with the first idler wheel (25) for cooperating with the first guide rail (24), and the first idler wheel (25) is the
It is moved up and down in one guide rail (24).
4. a kind of cones of Pinus koraiensis picking mechanical arm according to claim 3, it is characterised in that: telescopic arm (3) includes second
Fixed arm (31), the second lever arm (32) and the second driving device (33), the second lever arm (32) are embedded in the second fixed arm (31)
Interior, for the second driving device (33) for driving the second lever arm (32) flexible, the second lever arm (32) outer wall is equipped with the second guide rail
(34), the second fixed arm (31) inner wall is equipped with the second idler wheel (35) for cooperating with the second guide rail (34), and the second idler wheel (35) is the
Two guide rails move in (34).
5. a kind of cones of Pinus koraiensis picking mechanical arm according to claim 4, it is characterised in that: first driving device (23) and
Second driving device (33) is motor or hydraulic cylinder or cylinder.
6. a kind of cones of Pinus koraiensis picking mechanical arm according to claim 1, it is characterised in that: clamping device (42) includes folder
It holds arm (421), clamping arm (421) two sides are respectively set two grippers (422), ipsilateral two of clamping arm (421)
Gripper (422) is arranged symmetrically, and is equipped with spring (424) between two ipsilateral grippers (422) of clamping arm (421), clamping
Arm (421) is equipped with second hydraulic cylinder (423), and second hydraulic cylinder (423) is for driving gripper (422) to open or be closed.
7. a kind of cones of Pinus koraiensis picking mechanical arm according to claim 6, it is characterised in that: luffing mechanism (41) further includes
Rotating electric machine (412), rotating electric machine (412) are connect with clamping arm (421) and actuator arm (411) respectively, rotating electric machine
(412) it is located between actuator arm (411) and clamping arm, rotating electric machine (412) is for driving clamping device (42) to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910294337.0A CN109997515A (en) | 2019-04-12 | 2019-04-12 | A kind of cones of Pinus koraiensis picking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910294337.0A CN109997515A (en) | 2019-04-12 | 2019-04-12 | A kind of cones of Pinus koraiensis picking mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN109997515A true CN109997515A (en) | 2019-07-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910294337.0A Pending CN109997515A (en) | 2019-04-12 | 2019-04-12 | A kind of cones of Pinus koraiensis picking mechanical arm |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5294173B2 (en) * | 2008-09-18 | 2013-09-18 | 独立行政法人農業・食品産業技術総合研究機構 | Fruit and vegetable bunch harvesting apparatus and fruit and vegetable selective harvesting method |
| CN206596391U (en) * | 2017-04-11 | 2017-10-31 | 李斌 | A kind of fruit picking device |
| CN206674544U (en) * | 2016-10-25 | 2017-11-28 | 吉首大学 | A kind of Kiwi berry picking mechanical arm |
| CN107548698A (en) * | 2017-10-31 | 2018-01-09 | 滨州学院 | A kind of light fruit picker |
| CN107637280A (en) * | 2017-11-08 | 2018-01-30 | 皖西学院 | A kind of strawberry automatic picking apparatus based on delta parallel institutions |
| CN109287271A (en) * | 2018-10-15 | 2019-02-01 | 广西大学 | Electromechanical lichee harvester |
| CN109348855A (en) * | 2018-10-29 | 2019-02-19 | 东北大学 | The novel fruit picking of light portable |
| CN109392451A (en) * | 2018-12-25 | 2019-03-01 | 白雪 | One kind plucking apple device |
| CN208675819U (en) * | 2018-05-24 | 2019-04-02 | 天津科技大学 | A kind of comprehensive remote-controlled apple picking |
-
2019
- 2019-04-12 CN CN201910294337.0A patent/CN109997515A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5294173B2 (en) * | 2008-09-18 | 2013-09-18 | 独立行政法人農業・食品産業技術総合研究機構 | Fruit and vegetable bunch harvesting apparatus and fruit and vegetable selective harvesting method |
| CN206674544U (en) * | 2016-10-25 | 2017-11-28 | 吉首大学 | A kind of Kiwi berry picking mechanical arm |
| CN206596391U (en) * | 2017-04-11 | 2017-10-31 | 李斌 | A kind of fruit picking device |
| CN107548698A (en) * | 2017-10-31 | 2018-01-09 | 滨州学院 | A kind of light fruit picker |
| CN107637280A (en) * | 2017-11-08 | 2018-01-30 | 皖西学院 | A kind of strawberry automatic picking apparatus based on delta parallel institutions |
| CN208675819U (en) * | 2018-05-24 | 2019-04-02 | 天津科技大学 | A kind of comprehensive remote-controlled apple picking |
| CN109287271A (en) * | 2018-10-15 | 2019-02-01 | 广西大学 | Electromechanical lichee harvester |
| CN109348855A (en) * | 2018-10-29 | 2019-02-19 | 东北大学 | The novel fruit picking of light portable |
| CN109392451A (en) * | 2018-12-25 | 2019-03-01 | 白雪 | One kind plucking apple device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20190712 |