CN201349417Y - General mechanical arm device for picking ground grown fruits and vegetables - Google Patents
General mechanical arm device for picking ground grown fruits and vegetables Download PDFInfo
- Publication number
- CN201349417Y CN201349417Y CNU2009201054130U CN200920105413U CN201349417Y CN 201349417 Y CN201349417 Y CN 201349417Y CN U2009201054130 U CNU2009201054130 U CN U2009201054130U CN 200920105413 U CN200920105413 U CN 200920105413U CN 201349417 Y CN201349417 Y CN 201349417Y
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- fruits
- wheel gear
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Abstract
The utility model relates to a general mechanical arm device for picking ground grown fruits and vegetables, which is characterized in that: the general mechanical arm device comprises a mobile working vehicle, and a box body of a worm wheel-worm mechanism rotating horizontally driven by a motor and a transmission mechanism on the working vehicle, a worm wheel of the worm wheel-worm mechanism is eccentrically connected with a large arm, the other end of the large arm is fixedly connected with the box body of the other worm wheel-worm mechanism, the worm wheel of the other worm wheel-worm mechanism is eccentrically connected with a small arm, and the tail end of the small arm is vertically downward. The general mechanical arm device is provided with a joint mechanism with three degrees of freedom and can realize the automatic picking of a variety of ground fruit type fruits and vegetables by connecting different paws, so that the device has high utilization rate and strong universality.
Description
Technical field
The utility model relates to a kind of agricultural machinery, particularly about a kind of universal machine arm assembly of plucking the aerial growth fruits and vegetables.
Background technology
The fruit class fruits and vegetables of growing on the ground have watermelon, pineapple, muskmelon, wild cabbage, Chinese cabbage etc., the harvesting of these fruits and vegetables is the most consuming time and links of requiring great effort most during fruits and vegetables are produced, such as the about 7-10kg of the weight of single watermelon, the fruit crust is relatively more fragile, and the hard thorn of the pericarp outer surface fiber of pineapple is more, the long spinosity of sword-like leave, these fruits and vegetables weight are big, are difficult for plucking.China adopts artificial harvesting operation mostly at present, and along with the transfer of essential labour power in rural area to second and third industry, the rural laborer also is tending towards womenization and aging gradually, and this brings bigger difficulty to the harvesting operation of being engaged in the production of heavyweight fruits and vegetables.
The exploitation of robot is the focus of fruit harvest mechanization research, countries such as Japan, the U.S., Holland have developed picking robots such as tomato, cucumber, grape, watermelon, muskmelon, apple, oranges and tangerines in succession, these principal organ of robot comprise manipulator, end effector, vision sensor etc., but these robots all are special-purpose, and versatility is relatively poor.
Summary of the invention
At the problems referred to above, the purpose of this utility model is to propose a kind of universal machine arm assembly of plucking the aerial growth fruits and vegetables.
For achieving the above object, the utility model is taked following technical scheme: a kind of universal machine arm assembly of plucking the aerial growth fruits and vegetables, it comprises a mobile working car, drive the casing of a worm-and-wheel gear that horizontally rotates on the described work car by motor and transmission mechanism, the eccentric big arm that connects of the worm gear of described worm-and-wheel gear, the casing of fixedly connected another worm-and-wheel gear of the other end of described big arm, the eccentric forearm that connects of the worm gear of described another worm-and-wheel gear, the end of described forearm vertically downward.
Described transmission mechanism comprises a master gear by described driven by motor, and the engagement one of described master gear is from gear, describedly axially stretches out described work car from gear.
The casing of described worm-and-wheel gear is fixed on described upper end from gear shaft.
Comprise the worm and gear drive motors respectively on the described worm-and-wheel gear He on another worm-and-wheel gear.
The utility model is owing to take above technical scheme, it has the following advantages: 1, the utility model is provided with an articulation mechanism with 3 degree of freedom, by connecting different paws, can realize the automatic harvesting of various ground fruit class fruits and vegetables, the availability height of device, highly versatile.2, the utility model adopts three motors to drive waist, shoulder, ancon three part joints respectively, and is simple in structure, easy to operate.3, the utility model adopts the motor-driven gear transmission to realize horizontally rotating of waist mechanism, whole device can be carried out angle adjustment on horizontal plane.4, the utility model adopts other two motors to drive two cover worm-and-wheel gears respectively as shoulder and ancon mechanism, wherein the worm gear of shoulder mechanism off-centre connects a big arm, big arm connects the casing of ancon mechanism again, the eccentric again forearm that connects of the worm gear of ancon mechanism, big arm and forearm divide the two-stage swing, can regulate the terminal paw height that connects of forearm, and guarantee that the paw end is in plumbness all the time.The utility model only need connect different paws endways can pluck different fruits, and therefore highly versatile is referred to as general robot arm device.
Description of drawings
Fig. 1 is the utility model structural representation
Embodiment
Below in conjunction with drawings and Examples the utility model is described in detail.
As shown in Figure 1, the utility model mainly comprises a mobile working car, a waist mechanism, a shoulder mechanism and an ancon mechanism.
The bottom of mobile working car 1 of the present utility model has castor, and the work car is moved in the field, and shank adopts angle steel to make, and top has a platform.
Waist mechanism of the present utility model comprises that one is fixedly connected on the motor 2 on the mobile working car 1, and the output of motor 2 connects a master gear 3, and master gear 3 engagement one is from gear 4, vertically passes the platform of mobile working car 1 from gear shaft 5 from the gear 4.
Shoulder of the present utility model mechanism comprises the casing 6 that is connected from a worm-and-wheel gear of gear shaft 5 upper ends, cross-brace one worm screw 7 in the casing 6, worm screw 7 is driven by the first worm screw motor 8, worm screw 7 engagements one worm gear 9, and worm gear 9 is supported on the casing 6 by turbine wheel shaft.The eccentric big arm 10 that connects on the end face of worm gear 9.
Ancon of the present utility model mechanism comprises the casing 11 of another worm-and-wheel gear of the other end that is connected big arm 10, cross-brace one worm screw 12 in the casing 11, worm screw 12 is driven by the second worm screw motor 13, worm screw 12 engagements one worm gear 14, and worm gear 14 is supported on the casing 11 by turbine wheel shaft.The eccentric forearm 15 that connects on the end face of worm gear 14.Forearm 15 front ends remain plumbness, and can connect various forms of harvesting paws.
During this device busy, mobile working car 1 stops when going to the plant next door that will pluck in the field walking.Start the motor 2 of waist, drive the master gear 3 that is connected with a joggle and rotate, drive from gear shaft 5 and go up all mechanisms and rotate together from the rotation of gear 4 from gear 4, thus the level angle of adjusting device.Start the first worm screw motor 8 and the second worm screw motor 13, drive shoulder worm gear 9 and 14 rotations of ancon worm gear respectively, drive big arm 10 and forearm 15 then and swing up and down, adjust the forearm 15 terminal paw height that connect, it can be reached by directly over the harvesting object.
Claims (5)
1, a kind of universal machine arm assembly of plucking the aerial growth fruits and vegetables, it is characterized in that: it comprises a mobile working car, drive the casing of a worm-and-wheel gear that horizontally rotates on the described work car by motor and transmission mechanism, the eccentric big arm that connects of the worm gear of described worm-and-wheel gear, the casing of fixedly connected another worm-and-wheel gear of the other end of described big arm, the eccentric forearm that connects of the worm gear of described another worm-and-wheel gear, the end of described forearm vertically downward.
2, a kind of universal machine arm assembly of plucking the aerial growth fruits and vegetables as claimed in claim 1, it is characterized in that: described transmission mechanism comprises a master gear by described driven by motor, the engagement one of described master gear is from gear, describedly axially stretches out described work car from gear.
3, a kind of universal machine arm assembly of plucking the aerial growth fruits and vegetables as claimed in claim 1 or 2, it is characterized in that: the casing of described worm-and-wheel gear is fixed on described upper end from gear shaft.
4, a kind of universal machine arm assembly of plucking the aerial growth fruits and vegetables as claimed in claim 1 or 2 is characterized in that: comprise the worm and gear drive motors respectively on the described worm-and-wheel gear He on another worm-and-wheel gear.
5, a kind of universal machine arm assembly of plucking the aerial growth fruits and vegetables as claimed in claim 3 is characterized in that: comprise the worm and gear drive motors respectively on the described worm-and-wheel gear He on another worm-and-wheel gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009201054130U CN201349417Y (en) | 2009-01-22 | 2009-01-22 | General mechanical arm device for picking ground grown fruits and vegetables |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009201054130U CN201349417Y (en) | 2009-01-22 | 2009-01-22 | General mechanical arm device for picking ground grown fruits and vegetables |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201349417Y true CN201349417Y (en) | 2009-11-25 |
Family
ID=41372811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2009201054130U Expired - Fee Related CN201349417Y (en) | 2009-01-22 | 2009-01-22 | General mechanical arm device for picking ground grown fruits and vegetables |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201349417Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103858599A (en) * | 2014-02-26 | 2014-06-18 | 浙江机电职业技术学院 | Greenhouse cultivated vegetable harvesting rotary platform |
| CN107980351A (en) * | 2017-12-29 | 2018-05-04 | 上海海事大学 | A kind of electric drive cutting type fruit picker |
| CN111902040A (en) * | 2018-03-28 | 2020-11-06 | 本田技研工业株式会社 | Fruit and vegetable harvesting device |
-
2009
- 2009-01-22 CN CNU2009201054130U patent/CN201349417Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103858599A (en) * | 2014-02-26 | 2014-06-18 | 浙江机电职业技术学院 | Greenhouse cultivated vegetable harvesting rotary platform |
| CN107980351A (en) * | 2017-12-29 | 2018-05-04 | 上海海事大学 | A kind of electric drive cutting type fruit picker |
| CN111902040A (en) * | 2018-03-28 | 2020-11-06 | 本田技研工业株式会社 | Fruit and vegetable harvesting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091125 Termination date: 20130122 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |