CN204948801U - A mobile robot platform for kiwi fruit is picked - Google Patents
A mobile robot platform for kiwi fruit is picked Download PDFInfo
- Publication number
- CN204948801U CN204948801U CN201520588345.3U CN201520588345U CN204948801U CN 204948801 U CN204948801 U CN 204948801U CN 201520588345 U CN201520588345 U CN 201520588345U CN 204948801 U CN204948801 U CN 204948801U
- Authority
- CN
- China
- Prior art keywords
- platform
- frame
- kiwi fruit
- body main
- vehicle body
- 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.)
- Expired - Fee Related
Links
- 244000298697 Actinidia deliciosa Species 0.000 title claims abstract description 22
- 235000009436 Actinidia deliciosa Nutrition 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 230000001105 regulatory effect Effects 0.000 claims abstract description 9
- 230000009467 reduction Effects 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 abstract 1
- 238000010168 coupling process Methods 0.000 abstract 1
- 238000005859 coupling reaction Methods 0.000 abstract 1
- 238000012876 topography Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 239000002420 orchard Substances 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 235000009434 Actinidia chinensis Nutrition 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The utility model provides a mobile robot platform for kiwi fruit is picked, includes the automobile body main part, height regulating mechanism, four -wheel independent steering mechanism, in -wheel motor and tire. Height regulating mechanism utilizes parallel four -bar linkage connecting rod translation characteristics to be used for adjusting the height of the carbody and to keep the automobile body level, provides power by the pneumatic cylinder. Four -bar linkage's frame links firmly in the automobile body main part for shank structure automobile body main part becomes 45 contained angles, and four shank structures are installed respectively on automobile body four angles. Height regulating mechanism with turn to power take off mechanism and pass through the flange rigid coupling, it provides through planet gear by turning to the motor to turn to power. Turning to power output shaft and linking firmly with the tire support, turning to of tire is controlled to the rotation torque. The power that gos forward of platform is provided by four in -wheel motor. The utility model provides an adaptability that is used for the automatic mobile robot platform of picking of kiwi fruit, adopts the four -wheel independently to turn to the method and adopts in -wheel motor to provide the power of marcing, improve the platform and turn to omni -direction, the height regulating mechanism of combination platform, guaranteed the platform to different topography.
Description
Technical field
The present invention relates to kiwi fruit and automatically pluck field, be specifically related to a kind of mobile robot platform plucked for kiwi fruit.
Background technology
Fruit and vegetable picking is one of link wasted time and energy most in agricultural production chain, and seasonality is strong, labour intensity is large.In addition industrially develop rapidly, there is a large amount of transfer in surplus rural labor force, impels agriculture production cost to increase.China is the country that Kiwifruit Culture area is maximum in the world, but kiwi fruit still mainly relies on artificial results at present, due to the kiwi fruit plucking time Relatively centralized in each area, plucking time is relatively short, so need to drop into a large amount of manpowers to be engaged in the operations such as harvesting, sorting, vanning, labour intensity is large.Chinese patent CN201310719150.3 discloses " kiwi fruit picking robot and picking method ", this robot mainly realizes kiwi fruit and plucks, but does not relate to the research of the mobile platform of the shed frame type structure that can adapt to Kiwi growth environment and standardization plantation.Mobile platform is the basis of Agriculture pick robot motion, the characteristics determined such as the property complicated and changeable of farmland operation environment agricultural robot structure is different from industrial robot structure, in order to realize the whole-course automation that kiwi fruit is plucked, research kiwi fruit picking robot mobile platform has important production practical significance and scientific research value.
Summary of the invention
Whole-course automation is plucked in order to realize kiwi fruit, the object of the present invention is to provide a kind of mobile robot platform plucked for kiwi fruit of four-wheel independent steering, be exactly the Chinese gooseberry garden for the cropping pattern adopting shed frame type under self-sow environment specifically, kiwi fruit picking robot can be realized freely pass through in orchard, robot platform height adjustable, the four-wheel independent steering that in orchard, omnidirectional turns.
The present invention solves the technical scheme that its technical problem takes:
For the mobile robot platform that kiwi fruit is plucked, comprise vehicle body main body, height adjustment mechanism, four-wheel independent steering gear, wheel hub motor and tire.It is characterized in that:
Described height regulating member is primarily of frame, rocking bar, side link, connecting rod, hydraulic cylinder forms, and frame and vehicle body main body are connected by pin, rocking bar is connected with the top mounting points of frame by hinge, side link is connected with the bottom mounting points of frame by hinge, and one end of hydraulic cylinder is arranged on central rack chain connection point by hinge, and the other end is connected with rocking bar by hinge.The frame of four-bar mechanism is connected in vehicle body main body, makes leg structure vehicle body main body angle at 45 °, and four leg structures are arranged in the installing hole at vehicle body four angles respectively, and connecting rod and steering mechanism are connected by adpting flange.
Described steering mechanism by motor, planetary reduction gear, driving gear, driven gear, rolling bearing, sleeve, axle, bearing cap, mounting shell, rotary encoder form; Motor is connected with planetary reduction gear, and be connected on mounting shell, output torque is transferred to driven gear by driving gear, and driven gear is arranged on axle, and axle installs rolling bearing up and down, and bearing two ends use bearing (ball) cover fastening respectively; Rotary encoder is installed in axle upper end, and lower end steering power exports and is connected with hub bracket.
Described steering power output shaft and hub bracket are connected, wheel hub transverse axis interference compacting in the mounting groove of pedestal lower end, rotation torque control wheel hub holder unitary rotation;
Advantage of the present invention is: the present invention proposes one can move freely robot moving platform in booth frame for yangtao formula structure plantation orchard, this platform adopts four-wheel independent steering mode, and there is the adjustable feature of height of the carbody, the narrow and small job area of complicated landform and orchard can be adapted to.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is platform leg general structure partial schematic diagram;
Fig. 3 is the connection diagram of height adjustment mechanism and steering mechanism;
Fig. 4 is the cut-away view of steering mechanism;
Fig. 5 adpting flange I structure chart;
Fig. 6 four-wheel independent steering kinematics schematic diagram;
Fig. 7 turns to flow chart;
Fig. 8 height regulating member design sketch;
Drawing reference numeral illustrates: 1-installs cloud groove, 2-controller, 3-vehicle body main body, 4-hub bracket, 5-wheel hub motor, 6-air tyre, 7-rocking bar, 8-hydraulic cylinder, 9-hinge I, 10-connecting rod, 11-adpting flange I, 12-side link, 13-hinge II, 14-frame, 15-adpting flange II, 16-hinge III, 17-motor, 18-planetary reduction gear, 19-mounting shell, 20-driving gear, 21-main shaft, 22-sleeve, 23-lower ball cover, 24-driven gear, 25-rolling bearing, 26-upper ball cover, 27-rotary encoder, 28-boss.
Embodiment
See Fig. 1, Fig. 2, Fig. 3, Fig. 4, a kind of mobile robot platform plucked for kiwi fruit, comprises vehicle body main body 3, height adjustment mechanism, four-wheel independent steering gear Fig. 4, wheel hub motor 5 and tire 6.As shown in Figure 1 and Figure 2, the leg structure (Fig. 2) of mobile platform is by height regulating member, and steering mechanism (Fig. 4), hub bracket 4, wheel hub motor 5 and tire 6 form.This platform is totally four identical leg structures, and affixed respectively by frame 14 and vehicle body main body 3, make leg structure vehicle body main body angle at 45 °, four leg structures are fixed on vehicle body four angles respectively by pin.
Described height adjustment mechanism comprises rocking bar 7, hydraulic cylinder 8, hinge I9, connecting rod 10, adpting flange I11, side link 12, hinge II13, frame 14, adpting flange II15, hinge III16, as Fig. 1, Fig. 2, frame is mounted in vehicle body main body by pin, rocking bar 7 is connected through the hinge in the top mounting points of frame, side link 12 is connected to the bottom mounting points of frame 14 by hinge 13, one end of hydraulic cylinder 8 is arranged in frame 14 by hinge, and the other end is connected with rocking bar 7 by hinge.The stretching motion of hydraulic cylinder 8 can change the angle of rocking bar 7 and frame 14, thus realizes the function of highly adjustment, regulates altitude effect figure as shown in Figure 8.
As shown in Figure 3, the connection of height regulating member and steering mechanism realizes connecting by adpting flange I11 and adpting flange II15, and wherein adpting flange is stair-stepping metal structure, and structure is as Fig. 5, top is connected on connecting rod 10 by bolt, and bottom is connected on mounting shell 19 by screw.Thus realize the connection of height adjustment mechanism and steering mechanism.Wherein adpting flange I11, adpting flange II15 structure is identical, and installation site is relative.
Described steering mechanism, as shown in Figure 4, is made up of motor 17, planetary reduction gear 18, mounting shell 19, driving gear 20, axle 21, sleeve 22, lower ball cover 23, driven gear 24, rolling bearing 25, upper ball cover 26, rotary encoder 27, boss 28.Motor 17 is fixed by screw and planetary reduction gear 18, and the mounting flange of planetary reduction gear 18 is vertically fixed on mounting shell 19 by bolt, and driving gear 20 is fixed on planetary reduction gear 18 output shaft by key.Driven gear 24 is connected with main shaft 21 by key, engages transmitting torque with driving gear 20, and location, top utilizes the shaft shoulder, and bottom utilizes abutment sleeve 22, and sleeve 22 contacts with bearing inner race with driving gear 24 lower surface respectively, mainly bears axial force.The two ends of main shaft 21 are separately installed with angular contact bearing 25, can bear axial force and radial load simultaneously.Top rolling bearing inner ring contacts with the shaft shoulder, and bearing outer ring contacts with upper ball cover 26.The housing washer of bottom contacts with lower ball cover 23, and inner ring contacts with sleeve 22.Upper ball cover 26, lower ball cover 23 is fixed on the boss 28 of mounting shell 19 respectively by screw.
There is installing hole main shaft 21 upper end, coordinates with the main shaft 21 of rotary encoder 27, and to main shaft 21 and rotary encoder 27 synchronized rotation simultaneously, rotary encoder 27 is used for monitoring the anglec of rotation of main shaft 21, and feeds back to controller 2.Rotary encoder 27 is fixed on upper ball cover 26, in the installing hole that the top that power shaft is arranged on main shaft 21 is reserved.When main shaft 21 rotates, the power shaft of rotary encoder 27 rotates thereupon.
Main shaft 24 output has reserved spline keyway to be connected with hub bracket 4, and output torque acts in hub bracket 4, thus drives wheel to turn to.The lateral shaft interference compacting of wheel hub motor 5 in the mounting groove of hub bracket 4, due to the phenomenon that the gravity of platform self and the operating type of platform there will not be transverse axis to job-hop.
This mobile platform four-wheel independently turns to flow process as follows:
As Fig. 6, shown in Fig. 7, according to the Ackermann steering model of four-wheel independent steering, master controller calculates the corner of each wheel meeting this model, respectively by the controller being transferred to four steer motor, controller controls the anglec of rotation of motor by PWM ripple, motor 18 rotation torque is amplified by planetary transmission 18, be sent to driving gear 20, and then be sent to driven gear 24, main shaft 21 is driven to rotate, the output torque of the rotation of main shaft 21 is applied in hub bracket 4, realize wheel to turn to accurate angle, meanwhile, the power shaft of main shaft 21 upper end driven rotary encoder 27 rotates, the actual anglec of rotation of main shaft is transformed into analog signal and feeds back to controller by rotary encoder 27, compare with the anglec of rotation of expection, realize accurately closed-loop control.
Claims (1)
1. for the mobile robot platform that kiwi fruit is plucked, it is characterized in that: the mobile robot platform that described kiwi fruit is plucked comprises: vehicle body main body, height adjustment mechanism, four-wheel independent steering gear, wheel hub motor and tire;
Described height regulating member comprises frame, rocking bar, side link, connecting rod, hydraulic cylinder; Frame and vehicle body main body are connected by pin, rocking bar is connected with the top mounting points of frame by hinge, side link is connected with the bottom mounting points of frame by hinge, and one end of hydraulic cylinder is arranged on central rack chain connection point by hinge, and the other end is connected with rocking bar by hinge.The frame of four-bar mechanism is connected in vehicle body main body, makes leg structure vehicle body main body angle at 45 °, and four leg structures are arranged on vehicle body four angles respectively, and connecting rod and steering mechanism are connected by adpting flange;
Described steering mechanism comprises motor, planetary reduction gear, driving gear, driven gear, rolling bearing, sleeve, axle, bearing cap, mounting shell, rotary encoder; Motor is connected with planetary reduction gear, and be connected on mounting shell, output torque is transferred to driven gear by driving gear, and driven gear is arranged on axle, and axle installs rolling bearing up and down, and bearing two ends use bearing (ball) cover fastening respectively; Rotary encoder is installed in axle upper end, and lower end steering power exports and is connected with hub bracket;
Described steering power output shaft and hub bracket are connected, and wheel hub transverse axis interference compacting is in the mounting groove of pedestal lower end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520588345.3U CN204948801U (en) | 2015-07-31 | 2015-07-31 | A mobile robot platform for kiwi fruit is picked |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520588345.3U CN204948801U (en) | 2015-07-31 | 2015-07-31 | A mobile robot platform for kiwi fruit is picked |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204948801U true CN204948801U (en) | 2016-01-13 |
Family
ID=55043911
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520588345.3U Expired - Fee Related CN204948801U (en) | 2015-07-31 | 2015-07-31 | A mobile robot platform for kiwi fruit is picked |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204948801U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105620572A (en) * | 2016-04-01 | 2016-06-01 | 安徽理工大学 | Omni-directional movement mechanism for service robot |
| CN105937199A (en) * | 2016-05-23 | 2016-09-14 | 桂仲成 | Intelligent hub pavement autonomous detection apparatus |
| CN106171277A (en) * | 2016-07-12 | 2016-12-07 | 山西省农业科学院作物科学研究所 | A kind of corn picker |
| CN106664971A (en) * | 2017-03-12 | 2017-05-17 | 周佰利 | Intelligent apple picking robot |
| CN107258237A (en) * | 2017-07-27 | 2017-10-20 | 大连大学 | Full-automatic high altitude fruit picking |
| CN107567823A (en) * | 2017-07-27 | 2018-01-12 | 杭州电子科技大学 | Intelligent tea picking robot |
| CN107933731A (en) * | 2017-11-23 | 2018-04-20 | 吉林大学 | The full landform wheel leg mobile robot of coaxial-type |
| CN111254859A (en) * | 2020-02-04 | 2020-06-09 | 北京邮电大学 | Four-wheel independent drive independent steering mobile robot platform suitable for outdoor cleaning operation |
| CN111328539A (en) * | 2020-04-08 | 2020-06-26 | 上海电机学院 | Self-propelled day lily picking machine |
| CN111422248A (en) * | 2020-04-01 | 2020-07-17 | 株洲市东亨科技有限责任公司 | Subway rail laying vehicle with automatic control automobile body levelness function |
| WO2020173184A1 (en) * | 2019-02-27 | 2020-09-03 | 深圳市大可奇科技有限公司 | Vehicle power control system and method |
| CN111955164A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Safflower filament occlusion type parallel picking robot |
| CN113147889A (en) * | 2021-04-27 | 2021-07-23 | 苏州邦弘智能科技有限公司 | Steering wheel |
-
2015
- 2015-07-31 CN CN201520588345.3U patent/CN204948801U/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105620572A (en) * | 2016-04-01 | 2016-06-01 | 安徽理工大学 | Omni-directional movement mechanism for service robot |
| CN105620572B (en) * | 2016-04-01 | 2019-02-26 | 安徽理工大学 | Service robot omni-directional moving mechanism |
| CN105937199A (en) * | 2016-05-23 | 2016-09-14 | 桂仲成 | Intelligent hub pavement autonomous detection apparatus |
| CN105937199B (en) * | 2016-05-23 | 2019-01-08 | 桂仲成 | Independently detect intelligent apparatus in hub-type road face |
| CN106171277A (en) * | 2016-07-12 | 2016-12-07 | 山西省农业科学院作物科学研究所 | A kind of corn picker |
| CN106171277B (en) * | 2016-07-12 | 2018-03-30 | 山西省农业科学院作物科学研究所 | A kind of corn picker |
| CN106664971A (en) * | 2017-03-12 | 2017-05-17 | 周佰利 | Intelligent apple picking robot |
| CN106664971B (en) * | 2017-03-12 | 2019-02-26 | 宁夏神聚农业科技开发有限公司 | A kind of apple-picking intelligent robot |
| CN107969218A (en) * | 2017-07-27 | 2018-05-01 | 大连大学 | A kind of high-altitude seed harvester |
| CN107567823A (en) * | 2017-07-27 | 2018-01-12 | 杭州电子科技大学 | Intelligent tea picking robot |
| CN107258237A (en) * | 2017-07-27 | 2017-10-20 | 大连大学 | Full-automatic high altitude fruit picking |
| CN107933731A (en) * | 2017-11-23 | 2018-04-20 | 吉林大学 | The full landform wheel leg mobile robot of coaxial-type |
| CN107933731B (en) * | 2017-11-23 | 2020-07-03 | 吉林大学 | Coaxial all-terrain wheel-leg mobile robot |
| WO2020173184A1 (en) * | 2019-02-27 | 2020-09-03 | 深圳市大可奇科技有限公司 | Vehicle power control system and method |
| CN111254859A (en) * | 2020-02-04 | 2020-06-09 | 北京邮电大学 | Four-wheel independent drive independent steering mobile robot platform suitable for outdoor cleaning operation |
| CN111422248A (en) * | 2020-04-01 | 2020-07-17 | 株洲市东亨科技有限责任公司 | Subway rail laying vehicle with automatic control automobile body levelness function |
| CN111328539A (en) * | 2020-04-08 | 2020-06-26 | 上海电机学院 | Self-propelled day lily picking machine |
| CN111955164A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Safflower filament occlusion type parallel picking robot |
| CN113147889A (en) * | 2021-04-27 | 2021-07-23 | 苏州邦弘智能科技有限公司 | Steering wheel |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204948801U (en) | A mobile robot platform for kiwi fruit is picked | |
| CN111645478B (en) | Wheeled farmland management robot with flexible profiling chassis and profiling control method | |
| CN109122646B (en) | Frame spray lance double leveling high ground clearance electric plant protection machine based on vertical lift | |
| CN109177676B (en) | But high ground clearance plant protection machine's leveling frame | |
| CN105151116B (en) | The four-wheel running gear of pure rolling pivot stud | |
| CN105746474A (en) | Four-wheel-drive pesticide mist spray vehicle | |
| CN114771538B (en) | Agricultural four-wheel drive chassis and control method thereof | |
| CN209192086U (en) | A kind of paddy field sowing Agricultural Robot | |
| CN209300055U (en) | A kind of double leveling electronic fog machines of high-clearance of vehicle frame spray boom based on vertical lift | |
| CN107258155B (en) | A kind of modularization fertilizer applicator being adapted to mountain and hill work | |
| CN202931754U (en) | Full-automatic weeding machine | |
| CN102907216B (en) | Intelligent fruit picking vehicle utilizing solar energy and oil hybrid power | |
| CN209478174U (en) | A kind of agricultural robot platform based on intersection girder rack | |
| CN211378954U (en) | Seedling growing rack convenient to adjust and capable of achieving sufficient illumination | |
| CN209806425U (en) | Self-propelled no-tillage machine seeder | |
| CN202364566U (en) | Farmland harvester | |
| CN204634344U (en) | A kind of seedling in earthen bowl transplanter Shu Miao mechanism | |
| CN204697536U (en) | Reading intelligent agriculture robot moving platform | |
| CN103299865A (en) | Automatic sprinkling irrigation span transfer device | |
| CN202979608U (en) | Two-dimensional manual translational agricultural frame | |
| CN206491133U (en) | A kind of forage grass pusher based on the servo-actuated revolution of friction | |
| CN108214450A (en) | A kind of chassis structure of greenhouse robot | |
| CN206994142U (en) | Automatic pit making machine | |
| CN205611192U (en) | Small-sized environment-friendly energy-saving small-power farm tool electric tractor | |
| CN201400224Y (en) | Crawler type running gear of walking tractor |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160113 |