CN205071699U - Nut picking manipulator - Google Patents

Abstract

The utility model aims to solve the problems of low picking efficiency, damage to tree trunks and wasting manpower in the picking process of the existing picking machines. The actuator is equipped with a finger-carrying disk on the rotating main shaft, and the finger-carrying disk is equipped with a picking finger for release. When the sliding block in the sliding mechanism is working in the picking actuator, under the interaction of the rotation of the picking actuator and the branches, when picking When the actuator encounters strong resistance, the sliding block drives the entire picking actuator to move backward along the slide rail, which can avoid the picking actuator being stuck during operation; the sliding mechanism controls the entire actuator and the tilting of the sliding mechanism by controlling the hydraulic cylinder The angle can be adjusted arbitrarily between 20 degrees and 50 degrees; picking is based on manual pulling and knocking to cause the stalks of nuts to tear off, which improves picking efficiency and enables adaptive picking. The structure is simple, easy to control, high reliability, and adaptable wide.

Description

A Nut Picking Manipulator

technical field

The utility model belongs to the field of agricultural machinery and relates to a manipulator for picking nuts, which is suitable for picking hard nuts such as walnuts.

Background technique

In my country, due to the implementation of the project of returning farmland to forests, the area of national economic forests has rapidly expanded. Some characteristic forest fruits such as walnuts, chestnuts, hazelnuts and ginkgo have formed some characteristic dry fruit industrial production bases with considerable economic benefits.

Picking and harvesting account for about 33% to 50% of the entire workload. Due to the complexity of picking operations, the degree of automation in picking is still very low. At present, domestic fruit picking operations are basically carried out manually. Fruit picking is highly seasonal, labor-intensive, and expensive. Therefore, ensuring timely and rapid harvesting of fruits and reducing harvesting costs are urgent problems for fruit farmers to increase their income.

Nut picking actuator, as the final execution part of the interaction between the nut picking machine and the external environment, has always been concerned by researchers. Especially in the field of agricultural robot research, due to the particularity of the robot's operating objects, the research on the picking actuator has become one of the key technologies of the fruit picking robot.

At present, the United States, France and other countries adopt the structure of vibrating picking machinery, which generally develops from a single fixed-stroke pusher to various types of orchard picking machines such as inertial vibrating machines and pneumatic vibrating machines. However, its shaking method is single. To make the fruit shake off from the branches of the fruit tree, it needs to generate enough vibration force, which often consumes a lot of energy and is not efficient. The clamping position is at the bottom of the trunk, close to the root of the fruit tree. Larger, easy to cause damage to the roots of fruit trees. To sum up, there is an urgent need for an automatic nut picking device with high picking efficiency, unlimited picking height, no harm to fruit trees, and saving manpower and material resources.

Utility model content

The utility model provides a manipulator for picking nuts in order to overcome the problems of low picking efficiency, limited picking height, damage to tree trunks and waste of manpower in the picking process existing in the existing picking equipment.

In order to solve the problems of the technologies described above, the utility model is realized by adopting the following technical solutions:

A nut picking manipulator, comprising a frame, the structure of the frame is that two horizontally parallel base angle steels are welded to the two ends of a connecting angle steel, the connecting angle steel is located at one end of the base angle steel, and the other end of the two base angle steels An angle steel seat is welded between them, and a hydraulic cylinder tail support seat is hinged in the middle of the angle steel seat. The cylinder barrel of the hydraulic cylinder is hinged with the hydraulic cylinder tail support seat. The middle parts of the two base angle steels are vertically welded with two parallel short support angle steels. Two parallel long support angle steels are vertically welded on the connecting angle steel, which is characterized in that it also includes a picking actuator and a sliding mechanism, the picking actuator includes a rotating main shaft, and five equidistant The finger-loading disc has a keyway and a notch for a retaining ring for a fixed shaft on the rotating main shaft. The finger-carrying disc is positioned on the rotating spindle through a flat-headed round key and a retaining ring for the shaft to achieve axial and radial positioning. There are 8 holes in the radial direction of the finger-carrying disc, and each of the 8 holes in the radial direction of the finger-carrying disc is equipped with 8 bionic picking fingers. The sliding mechanism includes a sliding track, a hydraulic motor frame, a sliding block, and a sliding bracket , spring frame, bearing seat and transmission shaft, the sliding track is fixed in the middle of the sliding bracket with bolts, the sliding block is a square steel plate, the sliding block is slidably installed in the chute of the sliding track, and the hydraulic motor frame is welded on the sliding block , the hydraulic motor frame is welded on the inner side of the sliding bracket, on the left and right sides of the bearing seat, a hydraulic motor is fixed on the hydraulic motor frame, a pair of bearing seats are installed with bolts under the hydraulic motor frame, and the transmission shaft passes through the bearing seat and is installed on the hydraulic Below the motor frame, two spring frames are installed at the end of the sliding block. Each spring frame is composed of a spring sleeve on a spring rod. The output gear of the hydraulic motor is connected with the transmission gear on one end of the transmission shaft through a transmission chain. , the other end of the transmission shaft is connected to the rear end of the rotating main shaft in the picking actuator through a coupling, the piston rod of the hydraulic cylinder is hinged to the hydraulic cylinder head connecting seat at the end of the sliding bracket, and there are two on the top of the short support angle steel A rotating shaft is inserted in the hole, the rotating shaft is installed on the rear of the sliding bracket through a pair of bearing seats, and the front end of the sliding bracket is fixed on the top of the long support angle steel.

Further technical solutions include:

The described bionic picking finger is covered with a rubber finger cot.

The length of the straight part of the bionic picking finger mounted on the first finger-loading disc from the front end of the rotating main shaft to the rear end of the rotating main shaft is 200 mm, the length of the curved finger part is 110 mm, and the bending angle is 135 degrees; from the front end of the rotating main shaft to the rotating main shaft The length of the straight part of the bionic picking finger installed on the second finger-carrying disc at the rear end is 250mm, the length of the curved part is 120mm, and the bending angle is 135 degrees; the third carrier finger from the front end of the rotating spindle to the rear end of the rotating spindle The length of the straight part of the bionic picking finger mounted on the disc is 300mm, the length of the curved part is 130mm, and the bending angle is 135 degrees; The length of the direct part of the finger is 350mm, the length of the curved part is 140mm, and the bending angle is 135 degrees; 400mm, the length of the curved finger part is 150mm, and the bending angle is 135 degrees; and each bionic picking finger is bent towards the front end of the rotating spindle, and the distance between two adjacent finger-carrying discs is 200mm.

A fixed angle steel is welded between the short support angle steel and the long support angle steel, a fixed angle steel is also welded between the two short support angle steels, and a fixed angle steel is also welded between the two long support angle steels.

The nut picking machine described in the utility model is provided with the nut picking machine described in the utility model, which includes a picking executive mechanism, a sliding mechanism, a hydraulic cylinder, a spring frame, a frame and a hydraulic motor. The bionic picking finger on the rotating spindle imitates the harvesting principle of tearing off the stalk of the nut by manual finger pulling, so that the nut falls from the tree. The sliding mechanism above the frame is equipped with a sliding block. The picking actuator can adjust the picking position through the sliding of the sliding block. The end of the frame is equipped with a hydraulic cylinder, which can adjust the picking height through the movement of the hydraulic cylinder. . Thus, it realizes multi-directional, multi-angle, and large-scale movement, and at the same time meets the needs of picking nuts of different varieties, different positions, different distances, different heights, and different maturity levels. While realizing mechanized harvesting of nuts, it can achieve efficient fruit picking, energy saving and emission reduction without damaging the fruit, trunk and branches. The nut picking machinery developed by this project can reduce labor force, greatly reduce labor cost, and greatly improve production efficiency.

Description of drawings

Below in conjunction with accompanying drawing, the utility model is further described:

Fig. 1 is the overall structure schematic diagram of a kind of nut picking manipulator described in the utility model;

Fig. 2 is a structural schematic diagram of a picking executive mechanism in a nut picking manipulator described in the utility model;

Fig. 3 is the structural representation of the bionic picking finger in a kind of nut picking manipulator described in the utility model;

Fig. 4 is a structural schematic diagram of a finger disc in a nut picking manipulator described in the present invention;

Fig. 5 is a top view of a sliding mechanism in a manipulator for picking nuts according to the present invention;

Fig. 6 is the two-axis view of the sliding mechanism in a nut picking manipulator described in the utility model;

Fig. 7 is a schematic diagram of a sliding track in a manipulator for picking nuts according to the present invention;

Fig. 8 is a schematic diagram of a sliding block and a spring frame in a manipulator for picking nuts according to the present invention;

Fig. 9 is a schematic diagram of the mechanism of the transmission sprocket in a nut picking manipulator described in the present invention;

Fig. 10 is a structural schematic diagram of a frame in a nut picking manipulator described in the present invention.

In the figure: 1. Picking actuator, 2. Coupling, 3. Transmission shaft, 4. Rack, 5. Sliding mechanism, 6. Hydraulic motor, 7. Transmission sprocket, 8. Hydraulic cylinder, 9. Rotation Shaft, 10. Tight retaining ring for shaft, 11. Bionic picking finger, 12. Carrying finger disc, 13. Flat round key, 14. Sliding track, 15. Hydraulic motor frame, 16. Sliding block, 17. For Sliding bracket, 18. Spring frame, 19. Rubber finger cot, 20. Output gear, 21. Transmission gear, 22. Connecting angle steel, 23. Base angle steel, 24. Angle steel seat, 25. Hydraulic cylinder tail support seat, 26. Long support angle steel, 27. Short support angle steel, 28. Fixed angle steel, 29. Hydraulic cylinder head connecting seat, 30. Rotating shaft, 31. Bearing seat, 32. Bearing seat.

detailed description

Below in conjunction with accompanying drawing, the utility model is described in detail:

A kind of manipulator for picking nuts, comprising a frame 4, two base angle steels 23 with a length of 1.6m placed horizontally and parallel are welded to the left and right ends of a connecting angle steel 22, the connecting angle steel 22 is located at the right end of the base angle steel, at a distance from the base An angle steel seat 24 is welded at 160 mm from the left end of the angle steel 23, and a hydraulic cylinder tail support seat 25 is hinged in the middle of the angle steel seat 24. The cylinder barrel of the hydraulic cylinder 8 is connected to the hydraulic cylinder tail support seat 25 by means of bolt connection, thereby completing Hinged with frame 4 ends, the middle part of two base angle steels 23 is vertically welded two mutually parallel short support angle steels 27, and two mutually parallel long support angle steels 26 are vertically welded on connection angle steels 22, also includes A picking actuator 1 and a sliding mechanism 5, the picking actuator 1 includes a rotating main shaft 9, five equidistant finger-carrying disks 12 are installed on the rotating main shaft 9, and keyways and fixed shafts are provided on the rotating main shaft 9. The notch of the retaining ring 10, the finger-carrying disk 12 on the rotating spindle 9 realizes axial and radial positioning through the flat-headed round key 13 and the shaft-use retaining ring 10, and the radial direction of the finger-carrying disk 12 has 8 Holes, eight bionic picking fingers 11 are installed in the 8 radial holes of each finger-carrying disk 12, and the sliding mechanism 5 includes a sliding track 14, a hydraulic motor frame 15, a sliding block 16, a sliding bracket 17, and a spring frame 18. The bearing housing 32 and the transmission shaft 3, the sliding bracket 17 is obliquely fixed on the top of the front end of the frame 4, the sliding track 14 is fixed in the middle of the sliding bracket 17 with bolts, the sliding block 16 is a square steel plate, and the sliding block 16 is slidably installed In the chute of the sliding track 14, the hydraulic motor frame 15 is welded on the sliding block 16, the hydraulic motor frame 15 is welded on the inner side of the sliding bracket 17, and on the left and right sides of the bearing seat 32, a hydraulic motor 6 is fixed on the hydraulic motor On the frame 15, a pair of bearing blocks 32 are installed with bolts below the hydraulic motor frame 15, and the power transmission shaft 3 passes through the bearing blocks 32 and is installed below the hydraulic motor frame 15. Two spring frames 18 are installed at the end of the sliding block 16, and each spring The frame 18 is composed of a spring sleeve on a spring rod. The output gear 20 of the hydraulic motor 6 is connected with the transmission gear 21 on one end of the transmission shaft 3 through a transmission chain 7, and the other end of the transmission shaft 3 is connected by a coupling 2 Connect with the rear end of the rotating main shaft 9 in the picking actuator 1, the piston rod of the hydraulic cylinder 8 is connected with the hydraulic cylinder head connection seat 29 at the end of the sliding bracket 17, and there are two holes on the top of the short support angle steel 27, A rotating shaft 30 is inserted in the hole, and the rotating shaft 30 is installed on the rear part of the sliding bracket 17 through a pair of bearing seats 31. The front end of the sliding bracket 17 is fixed on the top of the long supporting angle steel 26, and is welded between the short supporting angle steel 27 and the long supporting angle steel 26. There are fixed angles 28.

The described bionic picking finger 11 is covered with a rubber finger cot 19 .

From the front end of the rotating main shaft 9 to the first finger-carrying disc 12 at the rear end of the rotating main shaft 9, the length of the direct part of the bionic picking finger 11 is 200 mm, the length of the curved part is 110 mm, and the bending angle is 135 degrees; 9. The length of the direct part of the bionic picking finger mounted on the second finger-carrying disk 12 at the rear end of the rotating main shaft 9 is 250 mm, the length of the curved part is 120 mm, and the bending angle is 135 degrees; from the front end of the rotating main shaft 9 to the rotating The third finger-carrying disc 12 at the rear end of the main shaft 9 has a straight part length of 300 mm, a curved part length of 130 mm, and a bending angle of 135 degrees; The length of the direct part of the bionic picking finger mounted on the fourth finger disc 12 is 350mm, the length of the curved part is 140mm, and the bending angle is 135 degrees; The length of the direct part of the bionic picking finger mounted on the finger disc 12 is 400 mm, the length of the curved part is 150 mm, and the bending angle is 135 degrees; and each bionic picking finger is bent toward the front end of the rotating main shaft 9, and the adjacent The distance between two finger-carrying disks 12 is 200mm.

The working process of a kind of nut picking manipulator described in the utility model is as follows:

Determine the different positions of the hydraulic cylinder 8 and the sliding mechanism 5 according to the actual picking height, position and direction. Put a kind of nut picking manipulator described in the utility model next to the trunk or branch of the tree to be picked, open the hydraulic motor 6, and the hydraulic motor 6 transmits power to the transmission shaft 3 through the transmission sprocket 7, and the transmission shaft 3 Connect with the rotating shaft 9 through the coupling 2, so that the power is transmitted to the rotating shaft 9, and the rotating shaft 9 starts to rotate, driving the finger-carrying disk 12 to rotate, and the bionic picking finger 11 on the finger-carrying disk 12 also rotates , the nut-picking manipulator began to work normally, and picked the nuts based on the manual fingering method.

The sliding block 16 generates a certain axial resistance under the interaction between the rotation of the picking actuator 1 and the branches during the operation of the picking actuator, and then compresses the spring frame 18 so that the sliding block 16 drives the entire picking actuator 1 along the Slide rail 14 moves backward, and because the axial resistance changes indefinitely, the vibration before and after making the plucking actuator 1 work, has increased plucking operation effect like this. Simultaneously when the picking executive mechanism 1 runs into strong resistance, because the sliding block 16 drives the whole picking executive mechanism 1 to move backward along the slide rail 14, the picking executive mechanism can be avoided during operation from jamming; Under the effect of 18, sliding block 16 drives picking executive mechanism to get back to normal working position.

When the hydraulic cylinder 8 is in the operation of the picking actuator, the working angle of the picking actuator 1 is limited. At this time, the hydraulic cylinder 8 works and drives the hydraulic cylinder head connecting seat 29 to move, and the hydraulic cylinder head connecting seat 29 Welded on the end of the sliding bracket 17, the sliding bracket 17 will rotate around the rotating shaft 30. The hydraulic motor 6 provides power to the transmission shaft 3 to drive the picking actuator 1 to rotate through the coupling 4. At the same time, the picking actuator 1 is driven by the sliding bracket 17 to adjust the angle, between 20 degrees and 50 degrees. Any adjustment.

Claims (4)

1. A nut picking manipulator, comprising a frame (4), the structure of the frame (4) is that two horizontally parallel base angle steels (23) are welded to the two ends of a connecting angle steel (22), connected The angle steel (22) is located at one end of the base angle steel (23), an angle steel seat (24) is welded between the other ends of the two base angle steels (23), and a hydraulic cylinder tail support seat (25) is hinged in the middle of the angle steel seat (24) , the cylinder barrel of the hydraulic cylinder (8) is hinged with the support seat (25) at the tail end of the hydraulic cylinder, and the middle parts of the two base angle steels (23) are vertically welded with two parallel short support angle steels (27), and the connecting angle steel (22) Two mutually parallel long support angle steels (26) are welded vertically on the top, it is characterized in that, also comprises a picking executive mechanism (1) and a sliding mechanism (5), and picking executive mechanism (1) comprises a rotating main shaft ( 9), the rotating main shaft (9) is equipped with 5 equidistant finger-loading disks (12), and the rotating main shaft (9) is provided with a keyway and a notch for a retaining ring (10) for the fixed shaft, and the finger-loading circles The disc (12) realizes axial and radial positioning on the rotating main shaft (9) through the flat round key (13) and the shaft retaining ring (10), and there are 8 holes in the radial direction of the carrier finger disc (12 8 bionic picking fingers (11) are installed in 8 radial holes of each finger-carrying disk (12), and the sliding mechanism (5) includes a sliding track (14), a hydraulic motor frame (15), a sliding block (16), sliding bracket (17), spring frame (18), bearing seat (32) and transmission shaft (3), sliding track (14) is fixed on the middle part of sliding bracket (17) with bolts, sliding block (16 ) is a square steel plate, the sliding block (16) is slidably installed in the chute of the sliding track (14), the hydraulic motor frame (15) is welded on the sliding block (16), and the hydraulic motor frame (15) is welded on the sliding Move the inner side of the support (17), the left and right sides of the bearing seat (32), a hydraulic motor (6) is fixed on the hydraulic motor frame (15), and a pair of bearing blocks (32) are installed with bolts below the hydraulic motor frame (15). ), the transmission shaft (3) passes through the bearing seat (32) and is installed below the hydraulic motor frame (15), and two spring frames (18) are installed at the end of the sliding block (16), and each spring frame (18) consists of a A spring sleeve is formed on a spring rod, and the output gear (20) of the hydraulic motor (6) is connected with the transmission gear (21) on one end of the transmission shaft (3) through a transmission chain (7), and the transmission shaft (3) The other end of the other end is connected with the rear end of the rotary main shaft (9) in the picking actuator (1) through a coupling (2), and the piston rod of the hydraulic cylinder (8) is connected with the hydraulic cylinder head at the end of the sliding bracket (17). The connecting seat (29) is hinged, and there are two holes on the top of the short support angle steel (27), and a rotating shaft (30) is inserted in the hole, and the rotating shaft (30) is installed on the sliding bracket (17) through a pair of bearing seats (31). At the rear, the front end of the sliding support (17) is fixed on the top of the long support angle steel (26). 2. A manipulator for picking nuts according to claim 1, characterized in that, the bionic picking finger (11) is covered with a rubber finger cot (19). 3. A kind of manipulator for picking nuts according to claim 1 or 2, characterized in that, the first finger-carrying disc (12) from the front end of the rotating main shaft (9) to the rear end of the rotating main shaft (9) is equipped with a bionic Picking finger (11) refers to the direct part length of 200mm, and the curved finger part length is 110mm, and the bending angle is 135 degrees; the second finger disc (12 ) of the bionic picking finger equipped with the direct finger has a length of 250 mm, a curved finger length of 120 mm, and a bending angle of 135 degrees; (12) The length of the direct part of the bionic picking finger installed on the top is 300mm, the length of the curved part is 130mm, and the bending angle is 135 degrees; The length of the direct part of the bionic picking finger mounted on the disc (12) is 350mm, the length of the curved part is 140mm, and the bending angle is 135 degrees; The length of the direct part of the bionic picking finger mounted on the finger-carrying disk (12) is 400mm, the length of the curved part is 150mm, and the bending angle is 135 degrees; and each bionic picking (11) refers to the rotating main shaft (9) The front end direction is curved, and the distance between two adjacent finger-carrying disks (12) is 200mm. 4. A kind of nut picking manipulator according to claim 1, is characterized in that, is welded with fixed angle steel (28) between described short support angle steel (27) and long support angle steel (26), and described two Fixed angle steels (28) are also welded between the short support angle steels (27), and fixed angle steels (28) are also welded between the two long support angle steels (26).