CN110122074A - A kind of crawler type fruit and vegetable picking - Google Patents
A kind of crawler type fruit and vegetable picking Download PDFInfo
- Publication number
- CN110122074A CN110122074A CN201910524921.0A CN201910524921A CN110122074A CN 110122074 A CN110122074 A CN 110122074A CN 201910524921 A CN201910524921 A CN 201910524921A CN 110122074 A CN110122074 A CN 110122074A
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- China
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- plate
- bolted
- motor
- mechanical arm
- corner fittings
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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
- A01D46/30—Robotic devices for individually picking crops
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention provides a kind of crawler type fruit and vegetable picking, manually picks that work is many and diverse, the amount of labour is very big to solve traditional fruits and vegetables at present, elapsed time is long, simultaneously as the limitation that tree is high, the fruit of eminence position are difficult to pick, there are problems that certain risk.The technical scheme is that a kind of crawler type fruit and vegetable picking, it includes gripper, the second section mechanical arm, first segment mechanical arm and running gear that it, which is formed, wherein terminal pad is bolted with the claw plate in the second section mechanical arm in gripper, the first corner fittings in second section mechanical arm is bolted with the third corner fittings in first segment mechanical arm, and the crawler belt connecting plate in the connecting corners and running gear in first segment mechanical arm is bolted.
Description
Technical field
The invention belongs to robotics equipment field, in particular to a kind of crawler type fruit and vegetable picking.
Background technique
China is world agriculture big country, and an important component part for fruit industry exactly China's agricultural, fruit maturation
When most important operation link be picking operation, labor intensity is high, and elapsed time is long, simultaneously as the limitation that tree is high, eminence position
The fruit set is difficult to pick, and there are certain risks.So need to design it is a simple easily operated, but it is high-efficient, be easy to
Production, the equipment that can be widely applied have the link for pick in subsidiary production process.To guarantee production efficiency and production peace
Entirely, more labours are freed.
With novel agricultural technology, the fast development and application of mechanical technique and automatic technology, Agriculture pick robot
Our sight is come into, so that producing to intelligent development.Traditional fruits and vegetables manually pick that work is many and diverse, amount of labour pole
Greatly.The Mechaniaed harvest of the fruits such as general apple, citrus, pears, makes that the fruit on plant is fallen or even large area is pulled out by vibration
A kind of method removed, in consideration of it, crawler type fruit and vegetable picking is to be badly in need of in the industry.
Summary of the invention
The invention of this reality provides a kind of crawler type fruit and vegetable picking, and it is numerous manually to pick work with solution fruits and vegetables traditional at present
It is miscellaneous, the amount of labour is very big, elapsed time is long, simultaneously as the high limitation of tree, the fruit of eminence position are difficult to pick, exists certain
Risk the problem of.
The technical scheme is that a kind of crawler type fruit and vegetable picking, composition includes gripper 1, the second section mechanical arm
2, first segment mechanical arm 3 and running gear 4, wherein the claw plate in gripper 1 in terminal pad 105 and the second section mechanical arm 2
201 are bolted, and the first corner fittings 205 in the second section mechanical arm 2 passes through with the third corner fittings 301 in first segment mechanical arm
It is bolted, 4 crawler belt connecting plate 401 is connected by bolt in the connecting corners 308 in first segment mechanical arm and running gear
It connects, when picking machine work, drives entire picking machine to walk by the second motor 405, small pulley is driven by first motor 304
305 operatings, and big belt wheel 207 is imparted power to by synchronous belt and drives swinging up and down for the second section mechanical arm 2, work as motor
107 when rotating forward, and grabs claw 101, when reversion opens claw 101.
The gripper 1 is by claw 101, first connecting rod 102, second connecting rod 103, lead screw 104, terminal pad 105, company
Extension bar 106, motor 107, connecting plate 108 and attachment base 109 form, and wherein claw 101 and first connecting rod 102 are connected by pin shaft
It connecing, first connecting rod 102 is connect with second connecting rod 103 by pin shaft, and first connecting rod 102 is connect with connecting plate 108 by pin shaft,
Second connecting rod 103 is connect with attachment base 109 by pin shaft, and 104 motor 107 of lead screw is connected by positive coupling, terminal pad
105 are connect with connecting plate 108 by connecting rod 106, and motor 107 is bolted with connecting plate 108, lead screw 104 with connect
Seat 109 is connected through a screw thread, and when motor 107 rotates forward, is driven lead screw 104 to rotate clockwise, is moved attachment base 109 inwards, pawl
Son 101 engages, and when motor 107 inverts, drives lead screw 104 to rotate counterclockwise, is displaced outwardly attachment base 109, claw 101 is opened
It opens.
The second section mechanical arm 2 is by claw plate 201, side plate 202, long beam 203, crossbeam 204, the first corner fittings 205,
One axis 206, big belt wheel 207, the second axis 208 and big plate 209 form, and wherein claw plate 201 is bolted with big plate 209,
Side plate 202 is bolted with long beam 203, big plate 209, and long beam 203 is bolted with crossbeam 204, first axle 206
It is bolted with the first corner fittings 205 with the second axis 208 and the hole concentricity on long beam 203 with merging, big belt wheel 207 and the
Two axis 208 interference fit.
The first segment mechanical arm 3 by the second corner fittings 301, short beam 302, motor fixing plate 303, first motor 304,
Small pulley 305, fixed plate 306, bottom beam 307, connecting corners 308 and third corner fittings 309 form, wherein short beam 302 and second jiao
Part 301, motor fixing plate 303, third corner fittings 309 are bolted, and first motor 304 and motor fixing plate 303 pass through spiral shell
It tethers and connects, bottom beam 307 and third corner fittings 309 are bolted with fixed plate 306, and bottom beam 307 and connecting corners 308 pass through spiral shell
It tethers and connects, small pulley 305 and first motor 304 pass through interference fit.
The running gear 4 is by crawler belt connecting plate 401, crawler belt 402, driving wheel 403,404 and of the second motor fixing plate
Second motor 405 composition, wherein crawler belt connecting plate 401 is connect with driving wheel 403 by bearing, crawler belt connecting plate 401 and second
Motor fixing plate 404 is bolted, and the second motor 405 is bolted with the second motor fixing plate 404, crawler belt 402
It is intermeshed with driving wheel 403, the second motor 405 is connect with driving wheel 403 by positive coupling, and imparts power to drive
Driving wheel 403, driving wheel 403 drive crawler belt 402 to move.
The utility model has the advantages that being driven using crawler type moving wheel, energy the present invention provides a kind of crawler type fruit and vegetable picking
More severe terrain environment is adapted to, going on smoothly for robot body picking work is ensure that, improves picking efficiency, automatically
Change and intelligence degree is high, structure novel is ingenious in design, stability and good reliability, has good versatility and practical
Property, it is open strong, it is easy to extend.
Detailed description of the invention
Fig. 1 is a kind of main schematic diagram of structure of crawler type fruit and vegetable picking；
Fig. 2 is the structural schematic diagram of gripper 1 in Fig. 1；
Fig. 3 is the structural schematic diagram of the second section mechanical arm 2 in Fig. 1；
Fig. 4 is the structural schematic diagram of first segment mechanical arm 3 in Fig. 1；
Fig. 5 is the structural schematic diagram of running gear 4 in Fig. 1；
Specific embodiment
1. refering to fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, a kind of crawler type fruit and vegetable picking of present embodiment, group
At include gripper 1, the second section mechanical arm 2, first segment mechanical arm 3 and running gear 4, wherein in gripper 1 terminal pad 105 with
Claw plate 201 in second section mechanical arm 2 is bolted, the first corner fittings 205 and first segment machine in the second section mechanical arm 2
Third corner fittings 301 in tool arm is bolted, 4 shoe in the connecting corners 308 in first segment mechanical arm and running gear
Strip connecting plate 401 is bolted.
2. referring to Fig.2, gripper 1 by claw 101, first connecting rod 102, second connecting rod 103, lead screw 104, terminal pad 105,
Connecting rod 106, motor 107, connecting plate 108 and attachment base 109 form, and wherein claw 101 and first connecting rod 102 pass through pin shaft
Connection, first connecting rod 102 are connect with second connecting rod 103 by pin shaft, and first connecting rod 102 is connect with connecting plate 108 by pin shaft,
Second connecting rod 103 is connect with attachment base 109 by pin shaft, and 104 motor 107 of lead screw is connected by positive coupling, terminal pad 105
It is connect with connecting plate 108 by connecting rod 106, motor 107 is bolted with connecting plate 108, lead screw 104 and attachment base
109 are connected through a screw thread, and when motor 107 rotates forward, drive lead screw 104 to rotate clockwise, move attachment base 109 inwards, claw
101 engagements when motor 107 inverts, drive lead screw 104 to rotate counterclockwise, are displaced outwardly attachment base 109, and claw 101 opens.
3. the second section mechanical arm 2 is by claw plate 201, side plate 202, long beam 203, crossbeam 204, the first corner fittings refering to Fig. 3
205, first axle 206, big belt wheel 207, the second axis 208 and big plate 209 form, and wherein claw plate 201 and big plate 209 pass through spiral shell
It tethering and connects, side plate 202 is bolted with long beam 203, big plate 209, and long beam 203 is bolted with crossbeam 204, the
One axis 206 and the second axis 208 match to merge with the hole concentricity on long beam 203 to be bolted with the first corner fittings 205, big belt wheel
207 and second axis 208 be interference fitted.
4. first segment mechanical arm 3 is by the second corner fittings 301, short beam 302, motor fixing plate 303, first motor refering to Fig. 4
304, small pulley 305, fixed plate 306, bottom beam 307, connecting corners 308 and third corner fittings 309 form, wherein short beam 302 and the
Two corner fittings 301, motor fixing plate 303, third corner fittings 309 are bolted, and first motor 304 and motor fixing plate 303 are logical
It crosses and is bolted, bottom beam 307 and third corner fittings 309 are bolted with fixed plate 306, bottom beam 307 and connecting corners 308
It is bolted, small pulley 305 and first motor 304 pass through interference fit.
5. running gear 4 is by crawler belt connecting plate 401, crawler belt 402, driving wheel 403, the second motor fixing plate refering to Fig. 5
404 and second motor 405 form, wherein crawler belt connecting plate 401 is connect with driving wheel 403 by bearing, crawler belt connecting plate 401 and
Second motor fixing plate 404 is bolted, and the second motor 405 is bolted with the second motor fixing plate 404, crawler belt
402 are intermeshed with driving wheel 403, and the second motor 405 is connect with driving wheel 403 by positive coupling, and power is transmitted
To driving wheel 403, driving wheel 403 drives crawler belt 402 to move.
Claims (5)
1. a kind of crawler type fruit and vegetable picking, it is characterised in that it is mechanical by gripper (1), the second section mechanical arm (2), first segment
Arm (3) and running gear (4) form, wherein the claw plate in gripper (1) in terminal pad (105) and the second section mechanical arm (2)
(201) it is bolted, the first corner fittings (205) in the second section mechanical arm (2) and the third corner fittings in first segment mechanical arm
(301) it is bolted, the crawler belt connecting plate of (4) in the connecting corners (308) in first segment mechanical arm and running gear
(401) it is bolted.
2. a kind of crawler type fruit and vegetable picking according to claim 1, it is characterised in that gripper (1) by claw (101),
First connecting rod (102), second connecting rod (103), lead screw (104), terminal pad (105), connecting rod (106), motor (107), connection
Plate (108) and attachment base (109) composition, wherein claw (101) is connect with first connecting rod (102) by pin shaft, first connecting rod
(102) it being connect with second connecting rod (103) by pin shaft, first connecting rod (102) is connect with connecting plate (108) by pin shaft, and second
Connecting rod (103) is connect with attachment base (109) by pin shaft, and lead screw (104) motor (107) is connected by positive coupling, connection
Disk (105) is connect with connecting plate (108) by connecting rod (106), and motor (107) is bolted with connecting plate (108), silk
Thick stick (104) is connected through a screw thread with attachment base (109), when motor (107) rotates forward, is driven lead screw (104) to rotate clockwise, is made to connect
Joint chair (109) moves inwards, and claw (101) engagement when motor (107) inverts, drives lead screw (104) to rotate counterclockwise, makes to connect
Joint chair (109) is displaced outwardly, and claw (101) opens.
3. a kind of crawler type fruit and vegetable picking according to claim 1, it is characterised in that the second section mechanical arm (2) is by claw
Plate (201), side plate (202), long beam (203), crossbeam (204), the first corner fittings (205), first axle (206), big belt wheel (207),
Second axis (208) and big plate (209) composition, wherein claw plate (201) is bolted with big plate (209), side plate (202) and
Long beam (203), big plate (209) are bolted, and long beam (203) is bolted with crossbeam (204), first axle (206)
Match to merge with the hole concentricity on long beam (203) with the second axis (208) and be bolted with the first corner fittings (205), big belt wheel
(207) it is interference fitted with the second axis (208).
4. a kind of crawler type fruit and vegetable picking according to claim 1, it is characterised in that first segment mechanical arm (3) is by second
Corner fittings (301), short beam (302), motor fixing plate (303), first motor (304), small pulley (305), fixed plate (306), bottom
Beam (307), connecting corners (308) and third corner fittings (309) composition, wherein short beam (302) and the second corner fittings (301), motor are solid
Fixed board (303), third corner fittings (309) are bolted, and first motor (304) and motor fixing plate (303) are connected by bolt
It connects, bottom beam (307) and third corner fittings (309) are bolted with fixed plate (306), bottom beam (307) and connecting corners (308)
It is bolted, small pulley (305) and first motor (304) pass through interference fit.
5. a kind of crawler type fruit and vegetable picking according to claim 1, it is characterised in that running gear (4) is connected by crawler belt
Plate (401), crawler belt (402), driving wheel (403), the second motor fixing plate (404) and the second motor (405) form, wherein crawler belt
Connecting plate (401) is connect with driving wheel (403) by bearing, and crawler belt connecting plate (401) passes through with the second motor fixing plate (404)
It is bolted, the second motor (405) is bolted with the second motor fixing plate (404), crawler belt (402) and driving wheel
(403) it is intermeshed, the second motor (405) is connect with driving wheel (403) by positive coupling, and imparts power to driving
It takes turns (403), driving wheel (403) drives crawler belt (402) movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910524921.0A CN110122074A (en) | 2019-06-18 | 2019-06-18 | A kind of crawler type fruit and vegetable picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910524921.0A CN110122074A (en) | 2019-06-18 | 2019-06-18 | A kind of crawler type fruit and vegetable picking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110122074A true CN110122074A (en) | 2019-08-16 |
Family
ID=67577604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910524921.0A Withdrawn CN110122074A (en) | 2019-06-18 | 2019-06-18 | A kind of crawler type fruit and vegetable picking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110122074A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112715163A (en) * | 2021-02-02 | 2021-04-30 | 广州大学 | Fruit picking robot |
| US20210337733A1 (en) * | 2018-05-22 | 2021-11-04 | Octinion Bvba | Improved method and apparatus for automatically picking a fruit |
-
2019
- 2019-06-18 CN CN201910524921.0A patent/CN110122074A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210337733A1 (en) * | 2018-05-22 | 2021-11-04 | Octinion Bvba | Improved method and apparatus for automatically picking a fruit |
| CN112715163A (en) * | 2021-02-02 | 2021-04-30 | 广州大学 | Fruit picking robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190816 |